diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..2079bd9fc0f1147e88b69cf520b6dee922d24828 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b0da8ad24345168caf27aa20a939e31c00191ff778e2e34026232c7f221124 +size 89026 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..6656c021d2a41e7ccaccbaccdbfa574fee566fc1 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebe67fcf4c3d1b94967d3e2c922400e9df4fdba55e9bd1e27382d819bb534ada +size 399144 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..33cc85d8d4e9ac073a3a14fb13f36ffb83e4759b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 3, + "global_ask_index": 476, + "normalized": [ + 0.4224346321299213, + 0.9929692662319448, + 0.9942959693204588, + 0.5228769958259385, + 0.9706537942714983, + 0.7955299416722469, + 0.5581112515400893, + 0.7698186647432783, + 0.12877726299106138, + 0.2183439206569175, + 0.9950387006319025, + 0.8562011303933827 + ], + "settings": { + "spring_y": 42243.46321299213, + "object_radius_m": 0.049718770649277794, + "object_max_neighbours": 49, + "controller_radius_m": 0.0466013897078157, + "controller_max_neighbours": 77, + "ground_restitution": 0.7955299416722469, + "ground_friction": 1.1162225030801787, + "object_restitution": 0.7698186647432783, + "object_friction": 0.25755452598212275, + "collision_distance_m": 0.0187337568262767, + "drag_damping": 19.90077401263805, + "dashpot_damping": 171.24022607867656 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1259, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.046585563570261 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 228, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 719, + "hand_B": 540 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.100943642901257, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05290946294553578, + "workspace_s": 0.20287660392932594, + "objective_s": 0.0055819409899413586, + "stage_capture_s": 0.13878251006826758, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0071394918486475945, + "complete_s": 0.017972729867324233 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.976513683795929e-05, + "complete_s": 0.0002313631121069193 + } + }, + "total_s": 0.3656307440251112 + } + } + }, + "wall_time_s": 8.54596709087491, + "outcome": "finite", + "score": 0.0008745375935788704, + "tell_score": 0.0008745375935788704, + "observation_score": 0.0004949813855130533, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e13e71dae308dcb78455b7a7faa5f116d1cd506 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7957ecf3f79610b96ddca9a67807857297f567076ebeba85f3e0cb2880339f8 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..1bb819b5f37529011565081d7b3da30441ed0df3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5037c3fcdfcce533d29f1831490e5a8ccd914c514f69f2cf495afb0cf46bb69 +size 88130 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..39e2c93ec63b3c59b72fd6607d4dbd5dea6ae6c9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6975486bb16de2924df333328db0be4efbe9761153b24d35baa9d684ecfb6bec +size 394524 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..a5dd5066822f51b8b1ceaf56cce699325b65fa4e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 4, + "global_ask_index": 477, + "normalized": [ + 0.3088655696329733, + 0.9210720278020341, + 0.9424591918333309, + 0.6119339175769344, + 0.9773795501545258, + 0.9127222973714553, + 0.59894720452501, + 0.6218501762696201, + 0.09676636124394505, + 0.1707382558959944, + 0.9812466151654522, + 0.9591949614984394 + ], + "settings": { + "spring_y": 30886.556963297327, + "object_radius_m": 0.04684288111208137, + "object_max_neighbours": 47, + "controller_radius_m": 0.05283537423038541, + "controller_max_neighbours": 78, + "ground_restitution": 0.9127222973714553, + "ground_friction": 1.19789440905002, + "object_restitution": 0.6218501762696201, + "object_friction": 0.1935327224878901, + "collision_distance_m": 0.016829530235839777, + "drag_damping": 19.624932303309045, + "dashpot_damping": 191.83899229968787 + }, + "topology": { + "object_springs": 17796, + "controller_springs": 1776, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03979696333408356 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.052832406014204025 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 253, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1004, + "hand_B": 772 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.973132222890854, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.053302353946492076, + "workspace_s": 0.20288707804866135, + "objective_s": 0.005721272900700569, + "stage_capture_s": 0.12452891515567899, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007511388976126909, + "complete_s": 0.01825350779108703 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.171594865620136e-05, + "complete_s": 0.00022741500288248062 + } + }, + "total_s": 0.3517880239523947 + } + } + }, + "wall_time_s": 8.894656924996525, + "outcome": "finite", + "score": 0.0009409519725800691, + "tell_score": 0.0009409519725800691, + "observation_score": 0.00058157870421151, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c42b2225a6798db2d3a587f255206da8e89ed3e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67057e35dd3576315086a0e6ad42361628118859358b22a3ec2962a0077d650f +size 2528878 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..7c31e6cbfa25d8b60bdd9cbc844b0390b3d25717 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dce3ecb0cce02665d18516cb1ac773257900185d3a1a56a15895d90c153f431 +size 89746 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..269f8e8d728791bbc806d2ac0b5d6cf1677e425c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca9115ab1690153c20f0c7327f283fbba057f102d8c5fd2c7bdc7a484f80d135 +size 402588 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..d9eb81738d8ad6112bf36b99fac373d710adb1eb --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 5, + "global_ask_index": 478, + "normalized": [ + 0.34808244907633645, + 0.9777428713179797, + 0.9870559253317164, + 0.5563209794863132, + 0.9097561992898391, + 0.828992677765136, + 0.39298762157744593, + 0.6877360039540551, + 0.15445184070850362, + 0.1809535023933037, + 0.9998345698862986, + 0.8908143710605738 + ], + "settings": { + "spring_y": 34808.24490763365, + "object_radius_m": 0.049109714852719186, + "object_max_neighbours": 49, + "controller_radius_m": 0.04894246856404193, + "controller_max_neighbours": 73, + "ground_restitution": 0.828992677765136, + "ground_friction": 0.7859752431548919, + "object_restitution": 0.6877360039540551, + "object_friction": 0.30890368141700725, + "collision_distance_m": 0.01723814009573215, + "drag_damping": 19.99669139772597, + "dashpot_damping": 178.16287421211476 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1431, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.0489276759326458 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 231, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 810, + "hand_B": 621 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.973132222890854, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.050661575980484486, + "workspace_s": 0.28984347893856466, + "objective_s": 0.005931779043748975, + "stage_capture_s": 0.12709253700450063, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007746282033622265, + "complete_s": 0.019084803061559796 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010325806215405464, + "complete_s": 0.0002749650739133358 + } + }, + "total_s": 0.4424162767827511 + } + } + }, + "wall_time_s": 8.49163728300482, + "outcome": "finite", + "score": 0.0008770459273897866, + "tell_score": 0.0008770459273897866, + "observation_score": 0.0005309807872460148, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..06bab7bfcc018a2aa80f4ae4b02c73adc73dc393 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56fe63721dbcb4cbe5804f4cdeaf74b17852dbf7567f44c8b42cc19d868d21bf +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f854cdc497496d2a8cad4af9ad79b5ae34ff93b2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77d05c52920bde47bfdcb8d4f7f62953c6c7d59b3e9fa16ca88ce48b56e55fa1 +size 90114 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..f9cc0a36584367901c121f0c8ace104257b826bd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c30d006761623d65f2e0196e33bfeaad0a3bca1e77db59e1c6ddcf1d294e31ad +size 404412 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2514bde3734930f52f9b7ee40039e9b16a8e0fdc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 6, + "global_ask_index": 479, + "normalized": [ + 0.43549855269835797, + 0.9584638790932337, + 0.9933303651838457, + 0.5671591363247619, + 0.9767924894750654, + 0.9167102119408728, + 0.49690668602555876, + 0.5674260415396964, + 0.19673147863764393, + 0.06805442187119795, + 0.963344087836737, + 0.915785911781023 + ], + "settings": { + "spring_y": 43549.855269835796, + "object_radius_m": 0.048338555163729355, + "object_max_neighbours": 49, + "controller_radius_m": 0.049701139542733336, + "controller_max_neighbours": 78, + "ground_restitution": 0.9167102119408728, + "ground_friction": 0.9938133720511175, + "object_restitution": 0.5674260415396964, + "object_friction": 0.39346295727528785, + "collision_distance_m": 0.012722176874847918, + "drag_damping": 19.26688175673474, + "dashpot_damping": 183.1571823562046 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1522, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04969144985079765 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 236, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 873, + "hand_B": 649 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.037896106950939, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05781271401792765, + "workspace_s": 0.2052856939844787, + "objective_s": 0.005715477047488093, + "stage_capture_s": 0.12800398701801896, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007696900051087141, + "complete_s": 0.018561132019385695 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010471721179783344, + "complete_s": 0.00023436103947460651 + } + }, + "total_s": 0.35798622318543494 + } + } + }, + "wall_time_s": 8.974364072084427, + "outcome": "finite", + "score": 0.0009100160438003343, + "tell_score": 0.0009100160438003343, + "observation_score": 0.0005087981919832471, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..7eb651868474c9c8ec74fd69d8297911ff2994ae --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a27c7ff8b2eab048b167fd55d8387266c7a84bb49da2ee9ec9dfca5f795b877 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f850f08fd14e5b9a0634777c88dec20a7b448be5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b14afb6ed3e6e2c9e236069437a58dc6e6ffcc28bf728579f274ae7f1b7bf22 +size 89134 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..bba392996e9edf297ae66aeeaeb3f7b8c56a9355 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:088675259f518a4d20b52980e5a6d4c223e1b0a83a7588a57a258781f7b5c3d9 +size 399580 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..762494a66b6f08a916e0b38529e50222f16b5d3e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 7, + "global_ask_index": 480, + "normalized": [ + 0.2926595401043398, + 0.8953717795295699, + 0.9995047372875568, + 0.5276784163691948, + 0.9603046690974766, + 0.9878717280137452, + 0.4802612191605524, + 0.6226063734564868, + 0.2725437331097736, + 0.23870723701033486, + 0.9844174909417944, + 0.947958309789316 + ], + "settings": { + "spring_y": 29265.95401043398, + "object_radius_m": 0.0458148711811828, + "object_max_neighbours": 49, + "controller_radius_m": 0.04693748914584364, + "controller_max_neighbours": 77, + "ground_restitution": 0.9878717280137452, + "ground_friction": 0.9605224383211048, + "object_restitution": 0.6226063734564868, + "object_friction": 0.5450874662195472, + "collision_distance_m": 0.019548289480413393, + "drag_damping": 19.68834981883589, + "dashpot_damping": 189.59166195786318 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1281, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04692200943827629 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 230, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 731, + "hand_B": 550 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.037896106950939, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05100540700368583, + "workspace_s": 0.2898422358557582, + "objective_s": 0.00601651007309556, + "stage_capture_s": 0.13194654393009841, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0068408341612666845, + "complete_s": 0.017711824970319867 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010595191270112991, + "complete_s": 0.00023202598094940186 + } + }, + "total_s": 0.4459432018920779 + } + } + }, + "wall_time_s": 8.561088115209714, + "outcome": "finite", + "score": 0.0009038694319789452, + "tell_score": 0.0009038694319789452, + "observation_score": 0.0005337713302018039, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..bcd6b22f6095929b956040a493da2054718a07d9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:296c1a55e2ba2b8003534573c9fdbbc27f6bbbc4d7a33ab550623dbb940b2a98 +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a7c5fc6c667b70a0262154894ec7aff48fbc7f3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f1d3a47d6aa7419d0b26c832d50f55012b2502a279aeca3f1f617488fd4e276 +size 88290 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..00f330e8bf83de433d2f8b755b5fe18029e1ea9a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37d85d4d4a87416df95a862fb78b3780a49049c74be9ad925f6fae1f40471fb6 +size 395324 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..999cdf1c4ec52c58a32318e09a42f01e4f94b293 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 8, + "global_ask_index": 481, + "normalized": [ + 0.4296786941326079, + 0.846367297287853, + 0.986258256736387, + 0.4896659702796216, + 0.9921772392224287, + 0.8822969909286601, + 0.29687404399403794, + 0.5306464048163542, + 0.15239200008973813, + 0.061461706987279846, + 0.9997065459738568, + 0.9999952866038024 + ], + "settings": { + "spring_y": 42967.86941326079, + "object_radius_m": 0.04385469189151412, + "object_max_neighbours": 49, + "controller_radius_m": 0.04427661791957352, + "controller_max_neighbours": 79, + "ground_restitution": 0.8822969909286601, + "ground_friction": 0.5937480879880759, + "object_restitution": 0.5306464048163542, + "object_friction": 0.30478400017947627, + "collision_distance_m": 0.012458468279491194, + "drag_damping": 19.994130919477136, + "dashpot_damping": 199.9990573207605 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1068, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04423413425683975 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 627, + "hand_B": 441 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.036904311971739, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05651631602086127, + "workspace_s": 0.20228335005231202, + "objective_s": 0.005643605021759868, + "stage_capture_s": 0.12496017990633845, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007256682030856609, + "complete_s": 0.018167807022109628 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.675812907516956e-05, + "complete_s": 0.00022109411656856537 + } + }, + "total_s": 0.35144377197138965 + } + } + }, + "wall_time_s": 8.963040904840454, + "outcome": "finite", + "score": 0.0008598944952346568, + "tell_score": 0.0008598944952346568, + "observation_score": 0.00048094437940234924, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": true +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b6b279904e5099cc7aa6e15bafc6e6da9d88447 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9af79e7864002d0427a849e09baee3e1487f68f290862e4ba383a82b4a6d80b +size 11136934 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..e28e61735697ed3d4336160ecf7b80a5e0cd55aa --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:853352108dd32e59620f60653e6889b1e1808f46733524ac94fdc829619d9b0f +size 91394 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f4367e3aee313c84eb5a5227647b8877771514d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1765e06c97d984f0682810d554b419211b2bd842a09193d6695533ce9ba690f6 +size 410848 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..37df017c583f7535abb2cb2041b726c7130548ef --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 9, + "global_ask_index": 482, + "normalized": [ + 0.35119252531337747, + 0.9858956152872435, + 0.9999894549135615, + 0.6638956996283938, + 0.8123481576672449, + 0.7551055415525052, + 0.5915895160200336, + 0.7218402619158562, + 0.15368609782720258, + 0.09755561744116484, + 0.9878392494108541, + 0.9946869093503511 + ], + "settings": { + "spring_y": 35119.25253133775, + "object_radius_m": 0.049435824611489744, + "object_max_neighbours": 49, + "controller_radius_m": 0.05647269897398757, + "controller_max_neighbours": 66, + "ground_restitution": 0.7551055415525052, + "ground_friction": 1.1831790320400672, + "object_restitution": 0.7218402619158562, + "object_friction": 0.30737219565440516, + "collision_distance_m": 0.013902224697646594, + "drag_damping": 19.75678498821708, + "dashpot_damping": 198.93738187007023 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1844, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05645903944969177 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 254, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1011, + "hand_B": 833 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.036904311971739, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05082158092409372, + "workspace_s": 0.2925826469436288, + "objective_s": 0.0057422141544520855, + "stage_capture_s": 0.1268433090299368, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007531709037721157, + "complete_s": 0.01845020498149097 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00012879399582743645, + "complete_s": 0.0002656918950378895 + } + }, + "total_s": 0.4440536459442228 + } + } + }, + "wall_time_s": 8.564986587967724, + "outcome": "finite", + "score": 0.0009084044123722132, + "tell_score": 0.0009084044123722132, + "observation_score": 0.0006049058636955826, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..8f78b855f743b8ed8e7b9b242fa7cef09a378b98 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4233aad5d9677aa7795ab9a2649ec1bb60df430c4604407e36b9630db7d77702 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1ae0d19e12c47365934c724092f6b58e47b557b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3f5dc6d80147681d5443745011d7dc1cdc7737f1e5016ac1ce16eb59a2e5a4b +size 88214 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..41deacde860848861b1df16724f7046e0ecf75f0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c68f4c1cf63e992b0d66493f4fff16c7ee616b245105302e9e8c2aed45ca65b +size 394808 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6463e6d52a081dbeff5fa0dde84869117123bc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 43, + "ask_index": 10, + "global_ask_index": 483, + "normalized": [ + 0.4300091612267073, + 0.8991254547835068, + 0.9820424881769674, + 0.4855977427031912, + 0.9448512129903602, + 0.9266108258479725, + 0.6640757660317987, + 0.4999637726989796, + 0.0011301888565723006, + 0.19624503132157045, + 0.9959929668262277, + 0.8503266250303851 + ], + "settings": { + "spring_y": 43000.91612267073, + "object_radius_m": 0.04596501819134027, + "object_max_neighbours": 49, + "controller_radius_m": 0.043991841989223394, + "controller_max_neighbours": 76, + "ground_restitution": 0.9266108258479725, + "ground_friction": 1.3281515320635975, + "object_restitution": 0.4999637726989796, + "object_friction": 0.002260377713144601, + "collision_distance_m": 0.01784980125286282, + "drag_damping": 19.919859336524553, + "dashpot_damping": 170.06532500607702 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1042, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04398422688245773 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 219, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 611, + "hand_B": 431 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.631611644057557, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 5, + "wave_members": [ + 10 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05509135406464338, + "workspace_s": 0.20268544787541032, + "objective_s": 0.0056061961222440004, + "stage_capture_s": 0.12313451594673097, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0072824491653591394, + "complete_s": 0.018173974007368088 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011057592928409576, + "complete_s": 0.00023191305808722973 + } + }, + "total_s": 0.34999710600823164 + } + } + }, + "wall_time_s": 6.049623218132183, + "outcome": "finite", + "score": 0.0008741974754726312, + "tell_score": 0.0008741974754726312, + "observation_score": 0.00048489274756789453, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..201a9407d1b492a41e87048adaca6455dbdcb82d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8c09d9446a6d1150f9e046258d72141fdef96ddc2c0aeaa5ea281448a2026f7 +size 2528914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..4b4c5c301748199074b59d23c9eb8477baeff2e2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f4c0ef59fd88a7bebfc66f634443670267a298348df0d276fa396cd775d964c +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44757940f60f16f04b27e980feffef2d31285db6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791675329.6454997, "t_invocation_s": 0.000119348, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675329.6461303, "t_invocation_s": 0.000750261, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675330.141661, "t_invocation_s": 0.496280995, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.053393614012748, "workspace_s": 0.2820705829653889, "objective_s": 0.005873279878869653, "stage_capture_s": 0.1297156480140984, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0075618058908730745, "complete_s": 0.018421078799292445}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.681913070380688e-05, "complete_s": 0.00023689400404691696}}, "total_s": 0.4364986880682409}, "object_springs": 18544, "controller_springs": 1395} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675330.5564766, "t_invocation_s": 0.911096719, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05233720317482948, "workspace_s": 0.20537781296297908, "objective_s": 0.005586331943050027, "stage_capture_s": 0.12294105906039476, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00703012989833951, "complete_s": 0.017904728883877397}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.089312516152859e-05, "complete_s": 0.00021366216242313385}}, "total_s": 0.35219095391221344}, "object_springs": 18544, "controller_springs": 1310} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675330.5620394, "t_invocation_s": 0.916659161, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675338.5805209, "t_invocation_s": 8.9351413, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675338.5928602, "t_invocation_s": 8.947480135, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675338.6183207, "t_invocation_s": 8.972940845, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675338.64454, "t_invocation_s": 8.999160465, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675338.6453698, "t_invocation_s": 8.999989939, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675339.1393857, "t_invocation_s": 9.494005735, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.13010453688912094, "workspace_s": 0.20939795789308846, "objective_s": 0.005979660898447037, "stage_capture_s": 0.12433811719529331, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007327391067519784, "complete_s": 0.018177611054852605}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.980704635381699e-05, "complete_s": 0.00023117801174521446}}, "total_s": 0.358294075820595}, "object_springs": 18544, "controller_springs": 1448} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675339.5685287, "t_invocation_s": 9.923148809, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05290946294553578, "workspace_s": 0.20287660392932594, "objective_s": 0.0055819409899413586, "stage_capture_s": 0.13878251006826758, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0071394918486475945, "complete_s": 0.017972729867324233}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.976513683795929e-05, "complete_s": 0.0002313631121069193}}, "total_s": 0.3656307440251112}, "object_springs": 18544, "controller_springs": 1259} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675339.574081, "t_invocation_s": 9.928700789, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675347.683408, "t_invocation_s": 18.038028124, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675347.6959202, "t_invocation_s": 18.050539963, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675347.722225, "t_invocation_s": 18.07684521, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675347.7472754, "t_invocation_s": 18.101895609, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675347.7483366, "t_invocation_s": 18.102956671, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675348.159336, "t_invocation_s": 18.513956387, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.053302353946492076, "workspace_s": 0.20288707804866135, "objective_s": 0.005721272900700569, "stage_capture_s": 0.12452891515567899, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007511388976126909, "complete_s": 0.01825350779108703}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.171594865620136e-05, "complete_s": 0.00022741500288248062}}, "total_s": 0.3517880239523947}, "object_springs": 17796, "controller_springs": 1776} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675348.662877, "t_invocation_s": 19.017497294, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.050661575980484486, "workspace_s": 0.28984347893856466, "objective_s": 0.005931779043748975, "stage_capture_s": 0.12709253700450063, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007746282033622265, "complete_s": 0.019084803061559796}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010325806215405464, "complete_s": 0.0002749650739133358}}, "total_s": 0.4424162767827511}, "object_springs": 18544, "controller_springs": 1431} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675348.6680653, "t_invocation_s": 19.022685219, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675356.6494315, "t_invocation_s": 27.004051565, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675356.6624825, "t_invocation_s": 27.017102272, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675356.6896255, "t_invocation_s": 27.044245938, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675356.7163267, "t_invocation_s": 27.070946983, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675356.7170506, "t_invocation_s": 27.071670391, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675357.1388311, "t_invocation_s": 27.493451276, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05781271401792765, "workspace_s": 0.2052856939844787, "objective_s": 0.005715477047488093, "stage_capture_s": 0.12800398701801896, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007696900051087141, "complete_s": 0.018561132019385695}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010471721179783344, "complete_s": 0.00023436103947460651}}, "total_s": 0.35798622318543494}, "object_springs": 18544, "controller_springs": 1522} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675357.646162, "t_invocation_s": 28.000781772, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05100540700368583, "workspace_s": 0.2898422358557582, "objective_s": 0.00601651007309556, "stage_capture_s": 0.13194654393009841, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0068408341612666845, "complete_s": 0.017711824970319867}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010595191270112991, "complete_s": 0.00023202598094940186}}, "total_s": 0.4459432018920779}, "object_springs": 18544, "controller_springs": 1281} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675357.6514244, "t_invocation_s": 28.006044296, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675365.6978817, "t_invocation_s": 36.052501841, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675365.7106752, "t_invocation_s": 36.065295075, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675365.73776, "t_invocation_s": 36.092380204, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675365.7630327, "t_invocation_s": 36.117652992, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675365.7639031, "t_invocation_s": 36.118523369, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675366.1779246, "t_invocation_s": 36.532544583, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05651631602086127, "workspace_s": 0.20228335005231202, "objective_s": 0.005643605021759868, "stage_capture_s": 0.12496017990633845, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007256682030856609, "complete_s": 0.018167807022109628}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.675812907516956e-05, "complete_s": 0.00022109411656856537}}, "total_s": 0.35144377197138965}, "object_springs": 18544, "controller_springs": 1068} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675366.6829844, "t_invocation_s": 37.037604491, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05082158092409372, "workspace_s": 0.2925826469436288, "objective_s": 0.0057422141544520855, "stage_capture_s": 0.1268433090299368, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007531709037721157, "complete_s": 0.01845020498149097}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00012879399582743645, "complete_s": 0.0002656918950378895}}, "total_s": 0.4440536459442228}, "object_springs": 18544, "controller_springs": 1844} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675366.6882706, "t_invocation_s": 37.042890505, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675374.7410681, "t_invocation_s": 45.095688106, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675374.7535532, "t_invocation_s": 45.108172954, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675374.780432, "t_invocation_s": 45.135052204, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675374.8061864, "t_invocation_s": 45.160806615, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675374.8069277, "t_invocation_s": 45.161547471, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675375.2179086, "t_invocation_s": 45.572528788, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05509135406464338, "workspace_s": 0.20268544787541032, "objective_s": 0.0056061961222440004, "stage_capture_s": 0.12313451594673097, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0072824491653591394, "complete_s": 0.018173974007368088}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011057592928409576, "complete_s": 0.00023191305808722973}}, "total_s": 0.34999710600823164}, "object_springs": 18544, "controller_springs": 1042} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675375.2231874, "t_invocation_s": 45.577807382, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675380.8631124, "t_invocation_s": 51.217732538, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675380.868378, "t_invocation_s": 51.222997656, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675380.8935444, "t_invocation_s": 51.248164435, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791675380.8958218, "t_invocation_s": 51.250441611, "generation": 43, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 481} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..90fff7fc4736807475b476c7dce88015863f69ae --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7b92f1e1314f333f4c25ac495aa46b9e9021b4539fdbc181df81defa19b0c34 +size 31199 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f421bb83ffff65f00f91ff77beb55273a08aa96b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:785bfcc24908dfb2197ce02f1613c38af21fc4c73bac64cb9b8725cae32bc608 +size 27783 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/told.json new file mode 100644 index 0000000000000000000000000000000000000000..f72a2c1fe6888981bb1f370c3c56990e757de222 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g043/told.json @@ -0,0 +1,60 @@ +{ + "generation": 43, + "told_scores": [ + 0.0008896668941871303, + 0.000897933806346297, + 0.0009122262126469772, + 0.0008745375935788704, + 0.0009409519725800691, + 0.0008770459273897866, + 0.0009100160438003343, + 0.0009038694319789452, + 0.0008598944952346568, + 0.0009084044123722132, + 0.0008741974754726312 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 484, + "told_asks_total": 484, + "champion": { + "generation": 43, + "ask_index": 8, + "global_ask_index": 481, + "score": 0.0008598944952346568, + "observation_score": 0.00048094437940234924, + "normalized": [ + 0.4296786941326079, + 0.846367297287853, + 0.986258256736387, + 0.4896659702796216, + 0.9921772392224287, + 0.8822969909286601, + 0.29687404399403794, + 0.5306464048163542, + 0.15239200008973813, + 0.061461706987279846, + 0.9997065459738568, + 0.9999952866038024 + ], + "settings": { + "spring_y": 42967.86941326079, + "object_radius_m": 0.04385469189151412, + "object_max_neighbours": 49, + "controller_radius_m": 0.04427661791957352, + "controller_max_neighbours": 79, + "ground_restitution": 0.8822969909286601, + "ground_friction": 0.5937480879880759, + "object_restitution": 0.5306464048163542, + "object_friction": 0.30478400017947627, + "collision_distance_m": 0.012458468279491194, + "drag_damping": 19.994130919477136, + "dashpot_damping": 199.9990573207605 + } + }, + "pycma": { + "countiter": 44, + "countevals": 484, + "sigma": 0.08328137667958467 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..9853260678d8aedad78864c3d6662bcf9bf7045b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f6e57d693ae8c9a1c123d6edb55ebba2f5b4d46441023e13dc3195bae0de9b +size 89602 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a0b37bb6add6a5dbaae7c60c71225bce4e5211c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6802cc616f47b2c896ad5f648fbf28a20a58a05a59841bc7e2b099691abf9084 +size 401884 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..290bbb4436fbe82c7e29a3a86d5f911bbfb2cca9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 0, + "global_ask_index": 484, + "normalized": [ + 0.46297422334433846, + 0.8768242705893141, + 0.9980377365684601, + 0.5579940423049078, + 0.8195707478995705, + 0.8387835342002483, + 0.5727936422014123, + 0.5590163217707893, + 0.09515328618663085, + 0.03061108265623833, + 0.905426575940944, + 0.8790264595080596 + ], + "settings": { + "spring_y": 46297.422334433846, + "object_radius_m": 0.04507297082357257, + "object_max_neighbours": 49, + "controller_radius_m": 0.04905958296134355, + "controller_max_neighbours": 67, + "ground_restitution": 0.8387835342002483, + "ground_friction": 1.1455872844028245, + "object_restitution": 0.5590163217707893, + "object_friction": 0.1903065723732617, + "collision_distance_m": 0.011224443306249533, + "drag_damping": 18.10853151881888, + "dashpot_damping": 175.80529190161192 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1396, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04904044419527054 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 224, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 772, + "hand_B": 624 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.031566879944876, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05286064697429538, + "workspace_s": 0.2765815258026123, + "objective_s": 0.00573501200415194, + "stage_capture_s": 0.12478723004460335, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0074462611228227615, + "complete_s": 0.018307851161807775 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.771506302058697e-05, + "complete_s": 0.0002518079709261656 + } + }, + "total_s": 0.4258424008730799 + } + } + }, + "wall_time_s": 8.934357288992032, + "outcome": "finite", + "score": 0.0009238446824150179, + "tell_score": 0.0009238446824150179, + "observation_score": 0.0005220669496901923, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..665a40ce4620b317248831c76ecb393f6ea563ef --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e22571b89b26518eff4a083e0de6eaa89f45c2b29a7d525c3777be7ab372f316 +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..abec2894fadf36fde0e9c2ab4638a308f0607608 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75c8d37f86d514233a8831b29b0b095f06e8986fc32ad183a58f6cd0318b6b00 +size 87974 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..3282cf49e193b5856901dd589f0db073e0ff4231 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c137d43bab1b3e16db77afeffe3397613ee4725607da172c0b443fd1d7972b22 +size 393724 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..80c4390c6dfac24c37c68ea08440cddb2f34bcc4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 1, + "global_ask_index": 485, + "normalized": [ + 0.35473429677637325, + 0.9493018448985112, + 0.9995982678749535, + 0.478786438113036, + 0.8649617115929974, + 0.9457449506527379, + 0.40526699205732075, + 0.5121420979957271, + 0.08702588005389356, + 0.15376422021226366, + 0.9642803502279247, + 0.9524542721232145 + ], + "settings": { + "spring_y": 35473.42967763732, + "object_radius_m": 0.04797207379594045, + "object_max_neighbours": 49, + "controller_radius_m": 0.04351505066791252, + "controller_max_neighbours": 70, + "ground_restitution": 0.9457449506527379, + "ground_friction": 0.8105339841146415, + "object_restitution": 0.5121420979957271, + "object_friction": 0.1740517601077871, + "collision_distance_m": 0.016150568808490546, + "drag_damping": 19.285607004558493, + "dashpot_damping": 190.49085442464292 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 988, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04351066052913666 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 215, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 578, + "hand_B": 410 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.031566879944876, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05009656981565058, + "workspace_s": 0.20285402215085924, + "objective_s": 0.005638019880279899, + "stage_capture_s": 0.12361317803151906, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007104051997885108, + "complete_s": 0.01802096515893936 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.520398452877998e-05, + "complete_s": 0.00023094401694834232 + } + }, + "total_s": 0.3505251130554825 + } + } + }, + "wall_time_s": 8.458087430801243, + "outcome": "finite", + "score": 0.0008988698876787464, + "tell_score": 0.0008988698876787464, + "observation_score": 0.0005145914905343932, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4eb1712ecbbe542b59e29352e859da191708e14a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:361de3479be646d9ebb3a93543ce1b6adb1c9f933ed438e146e563202a4ae8ca +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..0555f629449fe38f2910a1abb0057b7442eb64d7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cebfb3677bf459daf7185d04936c777d861c0c812b839dc4b6ae0f2d1d364e2 +size 89558 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..601b0c517416c9ba8be7784b1501065430343d40 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd70d5657cf0fed52f2d805f7f585660dff59f1aa427b93e383b5c1ac86dc3e2 +size 401644 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..10aba7ac9c0a7ed223e1730f4036d3eb9ea2cada --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 2, + "global_ask_index": 486, + "normalized": [ + 0.43849460365760407, + 0.9038157420306799, + 0.9782235933983348, + 0.5470834574821294, + 0.9295045310786617, + 0.8690455255342382, + 0.6231436100351729, + 0.6030459814851047, + 0.09547227423904392, + 0.30474284302205856, + 0.990314911945064, + 0.6645129847758413 + ], + "settings": { + "spring_y": 43849.46036576041, + "object_radius_m": 0.0461526296812272, + "object_max_neighbours": 49, + "controller_radius_m": 0.048295842023749064, + "controller_max_neighbours": 75, + "ground_restitution": 0.8690455255342382, + "ground_friction": 1.2462872200703459, + "object_restitution": 0.6030459814851047, + "object_friction": 0.19094454847808784, + "collision_distance_m": 0.022189713720882343, + "drag_damping": 19.80629823890128, + "dashpot_damping": 132.90259695516826 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1384, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.048281069844961166 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 232, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 790, + "hand_B": 594 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.128207285888493, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05668523698113859, + "workspace_s": 0.2867216719314456, + "objective_s": 0.005736486054956913, + "stage_capture_s": 0.12563031096942723, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007495164172723889, + "complete_s": 0.018342506140470505 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.0001300359144806862, + "complete_s": 0.00026739086024463177 + } + }, + "total_s": 0.436874559847638 + } + } + }, + "wall_time_s": 9.057715565897524, + "outcome": "finite", + "score": 0.0009078063994302042, + "tell_score": 0.0009078063994302042, + "observation_score": 0.0005131625861943441, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..004d59812b5c5a86b11745a397333737115d05d0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc571172abb64f7619ecead0bae4d1b5a0b431a83b816573b6105978902cbd9c +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f66d94445a435796eb2cd15768b036a3aa517dee --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a0c7ab4e3cf6d7046ca5bffe348bfad095f0fe605d0a85c1cdf4951bda7cd45 +size 90290 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..d516401afec6dc9d1887d63b163e142a0b96d12d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:339283def68f33f9e8008404b602e11525d975f7490a877f6e433ad79ecb75e2 +size 405292 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2856cf6d2a7672f3a6e2f2fb2a86432ec7489301 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 3, + "global_ask_index": 487, + "normalized": [ + 0.5642590708154804, + 0.9224326210787311, + 0.9966053310882004, + 0.5805450933427854, + 0.9003142604111868, + 0.8692787248087003, + 0.5465424287555418, + 0.6521074781658643, + 0.004083474300008361, + 0.3132765267268091, + 0.9962366024182935, + 0.8021340284177252 + ], + "settings": { + "spring_y": 56425.907081548045, + "object_radius_m": 0.046897304843149246, + "object_max_neighbours": 49, + "controller_radius_m": 0.050638156533994984, + "controller_max_neighbours": 73, + "ground_restitution": 0.8692787248087003, + "ground_friction": 1.0930848575110836, + "object_restitution": 0.6521074781658643, + "object_friction": 0.008166948600016722, + "collision_distance_m": 0.022531061069072364, + "drag_damping": 19.92473204836587, + "dashpot_damping": 160.42680568354504 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1566, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05063791945576668 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 237, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 888, + "hand_B": 678 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.128207285888493, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0507477349601686, + "workspace_s": 0.21187193016521633, + "objective_s": 0.005998658947646618, + "stage_capture_s": 0.12408877303823829, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008198076859116554, + "complete_s": 0.0191008560359478 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010537984780967236, + "complete_s": 0.00023605790920555592 + } + }, + "total_s": 0.36147337406873703 + } + } + }, + "wall_time_s": 8.566797028994188, + "outcome": "finite", + "score": 0.000915246627747215, + "tell_score": 0.000915246627747215, + "observation_score": 0.000500854868540216, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..6edf2ee99d888a853b0c4029706e17a9377f4c54 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6028ef8eb9ad61bb5d2debb45357c88167752055f88901ae2ad457a575563bbc +size 2528882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..a8f6e33faf95a501ae2bb196c9bcc69c941f8c58 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d01def2da2541b45bec4cf771930bb3e0e45d1a04bc29f35acc3f334510d3a07 +size 87674 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b5813b29974c24415cab39ff93fcb68687cb2af --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd5c9c453b1e0ebd19fd3a765eb4d150bd769aa3235ad3c7df8da2eba77c75aa +size 392208 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..604e61dbc61e3e26c5e77df81e212b74a377a8a7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 4, + "global_ask_index": 488, + "normalized": [ + 0.39510128346365503, + 0.8120235639167745, + 0.986374839150375, + 0.4610480927120633, + 0.9633479855987194, + 0.8360636092705264, + 0.585189572841473, + 0.5460303399228477, + 0.017155201184243803, + 0.20642881304635952, + 0.9188476193319752, + 0.9114885570791813 + ], + "settings": { + "spring_y": 39510.128346365505, + "object_radius_m": 0.04248094255667099, + "object_max_neighbours": 49, + "controller_radius_m": 0.042273366489844436, + "controller_max_neighbours": 77, + "ground_restitution": 0.8360636092705264, + "ground_friction": 1.170379145682946, + "object_restitution": 0.5460303399228477, + "object_friction": 0.034310402368487605, + "collision_distance_m": 0.01825715252185438, + "drag_damping": 18.376952386639505, + "dashpot_damping": 182.29771141583626 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 912, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04227278381586075 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 216, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 563, + "hand_B": 349 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.024315661052242, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05896217003464699, + "workspace_s": 0.20213576196692884, + "objective_s": 0.005595108028501272, + "stage_capture_s": 0.12496090796776116, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007756413891911507, + "complete_s": 0.01862483797594905 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.719002991914749e-05, + "complete_s": 0.00020797108300030231 + } + }, + "total_s": 0.351733687100932 + } + } + }, + "wall_time_s": 8.949193204054609, + "outcome": "finite", + "score": 0.0009315015291195275, + "tell_score": 0.0009315015291195275, + "observation_score": 0.0004993568992471254, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..744bd6c3ca8c6b30067cbb24e5fa84ceff001cc2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e6b00164a07dc1032334a38255123484aeb78bc389b9ecedc0242303495ed51 +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..6e5cc6be93f11716c7ab6e9246de3fcd1f6fe7c4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62af9efc5990b7a7779a7ad2c50eb4acc46179b62a4318202520945ad3f40e15 +size 87922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..b64e76fb4cf9245acc6f2d705474138c347c4183 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bdc28dadde0b22c0c51297aec28a1aecebc736e170aad5e1add6879e0fd9771 +size 393208 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..6368a02765015daeebb8440f0d4449896e9e3856 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 5, + "global_ask_index": 489, + "normalized": [ + 0.39783055276996676, + 0.9175450134981709, + 0.9998667952604015, + 0.46971749443874367, + 0.9890806660914261, + 0.9424671635614559, + 0.5052468113994031, + 0.46931915271786795, + 8.564744334414509e-05, + 0.11299736720365544, + 0.9993718030236877, + 0.9877492091706703 + ], + "settings": { + "spring_y": 39783.055276996674, + "object_radius_m": 0.046701800539926834, + "object_max_neighbours": 49, + "controller_radius_m": 0.04288022461071206, + "controller_max_neighbours": 79, + "ground_restitution": 0.9424671635614559, + "ground_friction": 1.0104936227988062, + "object_restitution": 0.46931915271786795, + "object_friction": 0.00017129488668829018, + "collision_distance_m": 0.014519894688146219, + "drag_damping": 19.987436060473755, + "dashpot_damping": 197.54984183413407 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 962, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04286723956465721 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 219, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 583, + "hand_B": 379 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.024315661052242, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.050420169020071626, + "workspace_s": 0.2038803268224001, + "objective_s": 0.00570836802944541, + "stage_capture_s": 0.2121419650502503, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007158865919336677, + "complete_s": 0.018013766035437584 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.527010843157768e-05, + "complete_s": 0.000223544891923666 + } + }, + "total_s": 0.4401447628624737 + } + } + }, + "wall_time_s": 8.536377758020535, + "outcome": "finite", + "score": 0.0008898974679502451, + "tell_score": 0.0008898974679502451, + "observation_score": 0.0004993341083249765, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..0a70ea28625dd8ed5a640c06056a4dcaa1b02446 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7967c7f236fdaa843f1850db9d898f2e2cbe5bd03cbc1d1e2b69ab5cc094b467 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..52b2a1014fc04541d013728a89cbbc552d994c0b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d25f33bc70cd063d1768346c19d61875c30da38bde2aede6e6a7f45a9f12cb0 +size 86590 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..2042ac7de3da4d5f8ddde125167952caf5e69971 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d365ad2b72ec3989ca7f1a8bffcad17aaff90e06cf2e70e5c4b57b1101277a9f +size 386704 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4566b8d110222a8c8ac51c3ab84315f59e1a13 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 6, + "global_ask_index": 490, + "normalized": [ + 0.47130047404212727, + 0.9234640191719904, + 0.929545299108083, + 0.5444976641922308, + 0.9928792256792969, + 0.9120438068795921, + 0.5626251881339644, + 0.41966132739701706, + 0.13434434544213117, + 0.060626984988187166, + 0.9137974226598128, + 0.9177166476201748 + ], + "settings": { + "spring_y": 47130.047404212724, + "object_radius_m": 0.04693856076687962, + "object_max_neighbours": 47, + "controller_radius_m": 0.04811483649345616, + "controller_max_neighbours": 79, + "ground_restitution": 0.9120438068795921, + "ground_friction": 1.125250376267929, + "object_restitution": 0.41966132739701706, + "object_friction": 0.26868869088426234, + "collision_distance_m": 0.012425079399527486, + "drag_damping": 18.275948453196257, + "dashpot_damping": 183.54332952403496 + }, + "topology": { + "object_springs": 17796, + "controller_springs": 1385, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03979696333408356 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04806022346019745 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 232, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 797, + "hand_B": 588 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.978901718975976, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05450345203280449, + "workspace_s": 0.20461302087642252, + "objective_s": 0.005624069133773446, + "stage_capture_s": 0.12698533991351724, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007460619090124965, + "complete_s": 0.01819495391100645 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.81409102678299e-05, + "complete_s": 0.00022251997143030167 + } + }, + "total_s": 0.3558215228840709 + } + } + }, + "wall_time_s": 8.911616566125304, + "outcome": "finite", + "score": 0.0009560137169888241, + "tell_score": 0.0009560137169888241, + "observation_score": 0.0005123229120189871, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..6e2ec6227e01390ba8b78cf55018fbfc13a4937f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:880896a601940ddb2be1c9d3d11df96c326c7404218d4bbc453082b8df418e1a +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..182319e78f4ed14ffb7996c7d2ee2602058d1b73 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7ebb9b0b548cbbeeda0d50f3f762014515815bf474e2b56ca2934189972009 +size 86874 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..e6f3c42741f0891ab0d6447191d0c708ff04652d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35e34b4e8ab691a64238c63c5b998ba4051bc6ba51060702e466cc66cda69aef +size 388424 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..820faa850b10ff80c6636ac3747e59ea002913ce --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 7, + "global_ask_index": 491, + "normalized": [ + 0.5273723652904865, + 0.9714476543643512, + 0.980899219829042, + 0.42448098008416013, + 0.949601494432866, + 0.7553419985326543, + 0.46296422067351517, + 0.5808770681188262, + 0.16085905786552301, + 0.05695461516531036, + 0.9971912382175098, + 0.8505641818935196 + ], + "settings": { + "spring_y": 52737.23652904865, + "object_radius_m": 0.04885790617457405, + "object_max_neighbours": 49, + "controller_radius_m": 0.03971366860589121, + "controller_max_neighbours": 76, + "ground_restitution": 0.7553419985326543, + "ground_friction": 0.9259284413470303, + "object_restitution": 0.5808770681188262, + "object_friction": 0.32171811573104603, + "collision_distance_m": 0.012278184606612414, + "drag_damping": 19.943824764350197, + "dashpot_damping": 170.11283637870392 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 723, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03968597576022148 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 203, + "controls_without_attachment": 4, + "attachments_by_hand": { + "hand_A": 471, + "hand_B": 252 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.978901718975976, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0498971410561353, + "workspace_s": 0.2078676070086658, + "objective_s": 0.005786882014945149, + "stage_capture_s": 0.21607395797036588, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007896664086729288, + "complete_s": 0.018793679075315595 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.338697418570518e-05, + "complete_s": 0.00020650005899369717 + } + }, + "total_s": 0.44892299687489867 + } + } + }, + "wall_time_s": 8.503792715026066, + "outcome": "finite", + "score": 0.0009535592249826986, + "tell_score": 0.0009535592249826986, + "observation_score": 0.0005135525665344346, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..807bf2a9122e9e48fdf8f8f0d2d8dd6c3b7f0d47 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d322a4c0e49e0713c1ee56f8000ed5f8a256de43a36fce7e56e440b84f797c41 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..44cfb7ed5bc48f96f8fc6ef7bf20e73c1baaeb7e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8a25f232f93f72abfe33edc2c369c3114017b538cb30393c5c480c1e7a7cd58 +size 89730 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..967a0993067f813510442fb4da55ac5e08f26518 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21b368ea7ccd8a2029007d8c08f3bf76b0263c0daf1365127816b9b6f8ce2540 +size 402424 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2cfe4d9c62aee466814da5de1a48de2c469e1d3e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 8, + "global_ask_index": 492, + "normalized": [ + 0.3699619687929713, + 0.9309329635782254, + 0.9950954596142526, + 0.5600415132991131, + 0.8563462140205598, + 0.8604124307879919, + 0.42449937169878893, + 0.6906305955596643, + 0.0036726497250438124, + 0.24155961633004414, + 0.9422636510602634, + 0.9811544436604194 + ], + "settings": { + "spring_y": 36996.196879297124, + "object_radius_m": 0.04723731854312902, + "object_max_neighbours": 49, + "controller_radius_m": 0.04920290593093792, + "controller_max_neighbours": 69, + "ground_restitution": 0.8604124307879919, + "ground_friction": 0.8489987433975779, + "object_restitution": 0.6906305955596643, + "object_friction": 0.007345299450087625, + "collision_distance_m": 0.019662384653201765, + "drag_damping": 18.84527302120527, + "dashpot_damping": 196.23088873208388 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1423, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.049186188727617264 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 228, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 791, + "hand_B": 632 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.036185659002513, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.054714727913960814, + "workspace_s": 0.20817371597513556, + "objective_s": 0.005662266165018082, + "stage_capture_s": 0.12282044789753854, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007378736976534128, + "complete_s": 0.018226961139589548 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010011508129537106, + "complete_s": 0.0002305600792169571 + } + }, + "total_s": 0.35527767217718065 + } + } + }, + "wall_time_s": 8.960839119041339, + "outcome": "finite", + "score": 0.0008931982165987057, + "tell_score": 0.0008931982165987057, + "observation_score": 0.0005351625450443649, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e392921b56a9a62e7b67d1f4ad1143e795e0c80 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45422b36e0c37fd6c94d0af4d85e0c7266eff8cdeee1203726aa5c3e11ffcf84 +size 2528918 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..3ca0f334f4f73c1d893d9728d59ee2c24ea7d522 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7198c54e076487a04539c81d3291aa50560812340cf964a60550681014039ffc +size 89582 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..790a60093b60a56a94fca443aecd4abfc6601221 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18af1c6762c65e5ac199730eea53310575d29b59a2e6512914d09a6e3990b143 +size 401868 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..8be7484c58064f5b9869feb1607e4384068549bc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 9, + "global_ask_index": 493, + "normalized": [ + 0.45902169824591044, + 0.8845627061729092, + 0.9921975772853908, + 0.5456736598213137, + 0.9993522715833784, + 0.8440035922215754, + 0.5637414054137183, + 0.602430874322272, + 0.0639490645823561, + 0.11568131709928894, + 0.9956912475817655, + 0.987589101117085 + ], + "settings": { + "spring_y": 45902.169824591045, + "object_radius_m": 0.04538250824691637, + "object_max_neighbours": 49, + "controller_radius_m": 0.048197156187491964, + "controller_max_neighbours": 79, + "ground_restitution": 0.8440035922215754, + "ground_friction": 1.1274828108274366, + "object_restitution": 0.602430874322272, + "object_friction": 0.1278981291647122, + "collision_distance_m": 0.014627252683971557, + "drag_damping": 19.91382495163531, + "dashpot_damping": 197.517820223417 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1395, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04819037765264511 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 232, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 804, + "hand_B": 591 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.036185659002513, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0506663010455668, + "workspace_s": 0.2925307219848037, + "objective_s": 0.0057413880713284016, + "stage_capture_s": 0.12348302803002298, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007116497028619051, + "complete_s": 0.017989198910072446 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010242592543363571, + "complete_s": 0.00022380705922842026 + } + }, + "total_s": 0.4401313350535929 + } + } + }, + "wall_time_s": 8.548660547938198, + "outcome": "finite", + "score": 0.0008935998197327948, + "tell_score": 0.0008935998197327948, + "observation_score": 0.0005040592447294552, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..9329d63d61494acf271b1bdef3a4100b322d2e8f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37de7da815916f0e1f2f370367db3603eeda5119b8589c0305fe8a7f5d5a29c6 +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..ad9d775ac9664dc3c01525161b9698ea21692fc9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5874f9e8f9c3a408760e5615e3ac730b57eb8ee27d31e966a5f0c44358cf57f +size 88826 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..a63364f87b779203c4b010242569fd9ec03f5e22 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0dbe5975ef99d98bebaddb606a75b6f63332bfed24fcedeb3d5c826823291a5 +size 397848 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..914ae405eb5a0f9052e021f835505570aeb036a8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 44, + "ask_index": 10, + "global_ask_index": 494, + "normalized": [ + 0.4076609431178648, + 0.9956407276597046, + 0.9997307253206048, + 0.5106167918518876, + 0.9585254246186633, + 0.6991900224436596, + 0.20454268316088997, + 0.5765573539065322, + 0.06156290569078399, + 0.07888422086793034, + 0.9823027042364102, + 0.9871957014378788 + ], + "settings": { + "spring_y": 40766.09431178648, + "object_radius_m": 0.049825629106388186, + "object_max_neighbours": 49, + "controller_radius_m": 0.04574317542963213, + "controller_max_neighbours": 77, + "ground_restitution": 0.6991900224436596, + "ground_friction": 0.40908536632177994, + "object_restitution": 0.5765573539065322, + "object_friction": 0.12312581138156797, + "collision_distance_m": 0.013155368834717214, + "drag_damping": 19.646054084728203, + "dashpot_damping": 197.43914028757575 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1194, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045738741755485535 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 226, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 691, + "hand_B": 503 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.63714627106674, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 5, + "wave_members": [ + 10 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.056108855875208974, + "workspace_s": 0.2073047598823905, + "objective_s": 0.00569795211777091, + "stage_capture_s": 0.12516123079694808, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0075327008962631226, + "complete_s": 0.018386875046417117 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.0001055300235748291, + "complete_s": 0.00023439410142600536 + } + }, + "total_s": 0.35695858392864466 + } + } + }, + "wall_time_s": 6.063549135811627, + "outcome": "finite", + "score": 0.0008689867402195728, + "tell_score": 0.0008689867402195728, + "observation_score": 0.0004914075335880832, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..3c5c76bff3ddf52541d26f5bafabc6621d8a98b0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff5f7c90c212f727df6af1b2d532ae43f6c1c4ffa6db84b8113d95ab5beb3da7 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..a33c2ea8edb419cfb5f2e18b7dc417c57aba9a16 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f83d505b9ed33fa8695fcecfb2bb3ca38f28d22b0f8ef2d3750a4cb29429a8f +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4a195c485a0b71b733caefe6fe3301c4b6af282 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791675380.8979206, "t_invocation_s": 0.000144965, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675380.8985674, "t_invocation_s": 0.00079208, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675381.3828614, "t_invocation_s": 0.485086047, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05286064697429538, "workspace_s": 0.2765815258026123, "objective_s": 0.00573501200415194, "stage_capture_s": 0.12478723004460335, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0074462611228227615, "complete_s": 0.018307851161807775}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.771506302058697e-05, "complete_s": 0.0002518079709261656}}, "total_s": 0.4258424008730799}, "object_springs": 18544, "controller_springs": 1396} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675381.7939506, "t_invocation_s": 0.896175372, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05009656981565058, "workspace_s": 0.20285402215085924, "objective_s": 0.005638019880279899, "stage_capture_s": 0.12361317803151906, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007104051997885108, "complete_s": 0.01802096515893936}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.520398452877998e-05, "complete_s": 0.00023094401694834232}}, "total_s": 0.3505251130554825}, "object_springs": 18544, "controller_springs": 988} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675381.7991595, "t_invocation_s": 0.901384193, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675389.8393593, "t_invocation_s": 8.941584018, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675389.8519864, "t_invocation_s": 8.954211107, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675389.8817213, "t_invocation_s": 8.983946431, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675389.9105165, "t_invocation_s": 9.012741725, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675389.9116728, "t_invocation_s": 9.01389738, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675390.4112084, "t_invocation_s": 9.513433299, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.05668523698113859, "workspace_s": 0.2867216719314456, "objective_s": 0.005736486054956913, "stage_capture_s": 0.12563031096942723, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007495164172723889, "complete_s": 0.018342506140470505}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001300359144806862, "complete_s": 0.00026739086024463177}}, "total_s": 0.436874559847638}, "object_springs": 18544, "controller_springs": 1384} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675390.8337939, "t_invocation_s": 9.936018721, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.0507477349601686, "workspace_s": 0.21187193016521633, "objective_s": 0.005998658947646618, "stage_capture_s": 0.12408877303823829, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008198076859116554, "complete_s": 0.0191008560359478}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010537984780967236, "complete_s": 0.00023605790920555592}}, "total_s": 0.36147337406873703}, "object_springs": 18544, "controller_springs": 1566} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675390.8391728, "t_invocation_s": 9.94139746, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675398.976266, "t_invocation_s": 18.078490778, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675398.9887614, "t_invocation_s": 18.090985874, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675399.0171216, "t_invocation_s": 18.119346658, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675399.0443192, "t_invocation_s": 18.146544397, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675399.0451624, "t_invocation_s": 18.147387015, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675399.4617422, "t_invocation_s": 18.563967005, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05896217003464699, "workspace_s": 0.20213576196692884, "objective_s": 0.005595108028501272, "stage_capture_s": 0.12496090796776116, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007756413891911507, "complete_s": 0.01862483797594905}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.719002991914749e-05, "complete_s": 0.00020797108300030231}}, "total_s": 0.351733687100932}, "object_springs": 18544, "controller_springs": 912} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675399.9625387, "t_invocation_s": 19.064763659, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.050420169020071626, "workspace_s": 0.2038803268224001, "objective_s": 0.00570836802944541, "stage_capture_s": 0.2121419650502503, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007158865919336677, "complete_s": 0.018013766035437584}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.527010843157768e-05, "complete_s": 0.000223544891923666}}, "total_s": 0.4401447628624737}, "object_springs": 18544, "controller_springs": 962} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675399.9678187, "t_invocation_s": 19.070043302, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675408.0008721, "t_invocation_s": 27.103097045, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675408.0092974, "t_invocation_s": 27.111522008, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675408.0402422, "t_invocation_s": 27.142467028, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675408.067517, "t_invocation_s": 27.169742206, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675408.0684257, "t_invocation_s": 27.170650405, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675408.4844918, "t_invocation_s": 27.586716602, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05450345203280449, "workspace_s": 0.20461302087642252, "objective_s": 0.005624069133773446, "stage_capture_s": 0.12698533991351724, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007460619090124965, "complete_s": 0.01819495391100645}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.81409102678299e-05, "complete_s": 0.00022251997143030167}}, "total_s": 0.3558215228840709}, "object_springs": 17796, "controller_springs": 1385} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675408.9937854, "t_invocation_s": 28.096010119, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.0498971410561353, "workspace_s": 0.2078676070086658, "objective_s": 0.005786882014945149, "stage_capture_s": 0.21607395797036588, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007896664086729288, "complete_s": 0.018793679075315595}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.338697418570518e-05, "complete_s": 0.00020650005899369717}}, "total_s": 0.44892299687489867}, "object_springs": 18544, "controller_springs": 723} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675408.9989674, "t_invocation_s": 28.10119188, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675416.9865606, "t_invocation_s": 36.08878534, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675416.999072, "t_invocation_s": 36.101296551, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675417.0296483, "t_invocation_s": 36.131873612, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675417.0595279, "t_invocation_s": 36.161753356, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675417.060378, "t_invocation_s": 36.162602874, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675417.4764733, "t_invocation_s": 36.578698554, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.054714727913960814, "workspace_s": 0.20817371597513556, "objective_s": 0.005662266165018082, "stage_capture_s": 0.12282044789753854, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007378736976534128, "complete_s": 0.018226961139589548}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010011508129537106, "complete_s": 0.0002305600792169571}}, "total_s": 0.35527767217718065}, "object_springs": 18544, "controller_springs": 1423} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675417.97776, "t_invocation_s": 37.079984786, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.0506663010455668, "workspace_s": 0.2925307219848037, "objective_s": 0.0057413880713284016, "stage_capture_s": 0.12348302803002298, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007116497028619051, "complete_s": 0.017989198910072446}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010242592543363571, "complete_s": 0.00022380705922842026}}, "total_s": 0.4401313350535929}, "object_springs": 18544, "controller_springs": 1395} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675417.983053, "t_invocation_s": 37.085277788, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675426.0279143, "t_invocation_s": 45.130139385, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675426.0357442, "t_invocation_s": 45.137968906, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675426.0659847, "t_invocation_s": 45.168209826, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675426.0952835, "t_invocation_s": 45.197508577, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791675426.0960317, "t_invocation_s": 45.198256333, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791675426.5151556, "t_invocation_s": 45.617380469, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.056108855875208974, "workspace_s": 0.2073047598823905, "objective_s": 0.00569795211777091, "stage_capture_s": 0.12516123079694808, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0075327008962631226, "complete_s": 0.018386875046417117}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001055300235748291, "complete_s": 0.00023439410142600536}}, "total_s": 0.35695858392864466}, "object_springs": 18544, "controller_springs": 1194} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791675426.5204241, "t_invocation_s": 45.622648765, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791675432.1662614, "t_invocation_s": 51.268486321, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791675432.1714988, "t_invocation_s": 51.273723484, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791675432.201138, "t_invocation_s": 51.30336297, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791675432.2033255, "t_invocation_s": 51.305550555, "generation": 44, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 481} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..85dd5758ab8522444e02aa1bf40ca527c8744ff4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ada9c9e1b87e6aa8e07bfc7f5508c70bc60198d2abe1c7e18ca6ade3bbed224 +size 31067 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0b7d9905e2e1c71ae2197120eabb371be8ee52c4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:858a485f15474bbd10dacaf084d83df67a59d09783b571160bb94e5502f709f3 +size 27922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/told.json new file mode 100644 index 0000000000000000000000000000000000000000..65c9b4e3893bb6fd5ee926af818efe0c56683f2c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g044/told.json @@ -0,0 +1,60 @@ +{ + "generation": 44, + "told_scores": [ + 0.0009238446824150179, + 0.0008988698876787464, + 0.0009078063994302042, + 0.000915246627747215, + 0.0009315015291195275, + 0.0008898974679502451, + 0.0009560137169888241, + 0.0009535592249826986, + 0.0008931982165987057, + 0.0008935998197327948, + 0.0008689867402195728 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 495, + "told_asks_total": 495, + "champion": { + "generation": 43, + "ask_index": 8, + "global_ask_index": 481, + "score": 0.0008598944952346568, + "observation_score": 0.00048094437940234924, + "normalized": [ + 0.4296786941326079, + 0.846367297287853, + 0.986258256736387, + 0.4896659702796216, + 0.9921772392224287, + 0.8822969909286601, + 0.29687404399403794, + 0.5306464048163542, + 0.15239200008973813, + 0.061461706987279846, + 0.9997065459738568, + 0.9999952866038024 + ], + "settings": { + "spring_y": 42967.86941326079, + "object_radius_m": 0.04385469189151412, + "object_max_neighbours": 49, + "controller_radius_m": 0.04427661791957352, + "controller_max_neighbours": 79, + "ground_restitution": 0.8822969909286601, + "ground_friction": 0.5937480879880759, + "object_restitution": 0.5306464048163542, + "object_friction": 0.30478400017947627, + "collision_distance_m": 0.012458468279491194, + "drag_damping": 19.994130919477136, + "dashpot_damping": 199.9990573207605 + } + }, + "pycma": { + "countiter": 45, + "countevals": 495, + "sigma": 0.08534088926746487 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce37bee327162d9aff3122e47ed7ee537df9b573 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5e5672e32d8905de99c1a0254b710ee0c92ecf74e257f71c057e23e2d2f3dc5 +size 88578 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..68c6b86b8347dd4cb6d54f5026b1dfb65e7daec2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f163ceefbfed03db76b5d43ec5310320b4997b799a6f9530841d7f819a03c3b4 +size 396732 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..075124a1e8169deb37f48b36de26ddcc37540020 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 45, + "ask_index": 0, + "global_ask_index": 495, + "normalized": [ + 0.41853362480332496, + 0.9993503778778541, + 0.999999681172939, + 0.5022853259816523, + 0.9792975442592877, + 0.7318441801962151, + 0.4911769004659534, + 0.587676318061601, + 0.05501108653891204, + 0.06865428836793538, + 0.8938801152870729, + 0.9999999399160022 + ], + "settings": { + "spring_y": 41853.36248033249, + "object_radius_m": 0.049974015115114165, + "object_max_neighbours": 49, + "controller_radius_m": 0.045159972818715664, + "controller_max_neighbours": 78, + "ground_restitution": 0.7318441801962151, + "ground_friction": 0.9823538009319068, + "object_restitution": 0.587676318061601, + "object_friction": 0.11002217307782408, + "collision_distance_m": 0.012746171534717415, + "drag_damping": 17.87760230574146, + "dashpot_damping": 199.99998798320044 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1138, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04515920579433441 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 223, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 661, + "hand_B": 477 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.02320935879834, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05498875491321087, + "workspace_s": 0.2852888638153672, + "objective_s": 0.005646432982757688, + "stage_capture_s": 0.12605700618587434, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008553573861718178, + "complete_s": 0.019421550910919905 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011090491898357868, + "complete_s": 0.00023614102974534035 + } + }, + "total_s": 0.4368374098557979 + } + } + }, + "wall_time_s": 8.948537230025977, + "outcome": "finite", + "score": 0.0009060794574551402, + "tell_score": 0.0009060794574551402, + "observation_score": 0.0005007001751314948, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4b31106a2d9557e0d13116aba85e0a08c66f0564 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e60891fe34de8d8826210632ba513136f8d95ab19ef3e72fb1d9381afb6ef6 +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..aea6e7e777361d185a96716d27f71d068be971f4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65351dfe4b981a7f492168c42408e46492ca1c03ff58b9b906e1b0493e4758e0 +size 90350 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e364a95108a8c0461d049d0163e87d4c6b2c6b9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dcce704f7e1a10b41302f3e72dff5a4121d5c4fc93600e4fa2b93b16b13ab64 +size 405668 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..d1dabb737c7ff2ef78b0c2fff93fea78f375dc33 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 45, + "ask_index": 1, + "global_ask_index": 496, + "normalized": [ + 0.412177604288058, + 0.9899497180934533, + 0.9938523526952929, + 0.5783466341148138, + 0.9790313266267554, + 0.9016902573709259, + 0.31132552621301024, + 0.5366727114759919, + 0.10753621611208002, + 0.038451768722866445, + 0.9999538501311094, + 0.9561563208856484 + ], + "settings": { + "spring_y": 41217.7604288058, + "object_radius_m": 0.049597988723738134, + "object_max_neighbours": 49, + "controller_radius_m": 0.05048426438803697, + "controller_max_neighbours": 78, + "ground_restitution": 0.9016902573709259, + "ground_friction": 0.6226510524260205, + "object_restitution": 0.5366727114759919, + "object_friction": 0.21507243222416003, + "collision_distance_m": 0.011538070748914659, + "drag_damping": 19.999077002622187, + "dashpot_damping": 191.23126417712967 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1585, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05048411712050438 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 240, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 916, + "hand_B": 669 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.02320935879834, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05352182500064373, + "workspace_s": 0.21070787403732538, + "objective_s": 0.005510875955224037, + "stage_capture_s": 0.1215997920371592, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007097652880474925, + "complete_s": 0.017970426939427853 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.541399776935577e-05, + "complete_s": 0.00023124204017221928 + } + }, + "total_s": 0.3561875510495156 + } + } + }, + "wall_time_s": 8.454425010830164, + "outcome": "finite", + "score": 0.000876103819297179, + "tell_score": 0.000876103819297179, + "observation_score": 0.0005100921241013151, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e4486572e2e237b35cbac5575e4033105402efa --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04262b0afabb4f1e02386125573a9b4f0327b3bb314123d50d700a23db33793c +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..6bce6b7c5cf642a305ddd1c8300a7f6a8945e006 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea386b3a51893d150e5793c5df8b582d180dcdefbb3b2584e370f14e3704e373 +size 88998 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..3d924317de8b3e96815e42b06b644c3f1a654066 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e486f24cc73be67a7db96e65e26560c35a49a1f71476e602be42fab087e4169 +size 398864 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..e830b777a67bd4361d122f5332dd22823c87b2d7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 45, + "ask_index": 2, + "global_ask_index": 497, + "normalized": [ + 0.47279729637232965, + 0.971823389894046, + 0.9971173412927483, + 0.5210918893875703, + 0.9486030233742139, + 0.6302555433904078, + 0.3057144927398211, + 0.5735212843334716, + 0.03318239218225632, + 0.1584856905660907, + 0.9690617712610646, + 0.9896689659501087 + ], + "settings": { + "spring_y": 47279.729637232966, + "object_radius_m": 0.04887293559576184, + "object_max_neighbours": 49, + "controller_radius_m": 0.04647643225712993, + "controller_max_neighbours": 76, + "ground_restitution": 0.6302555433904078, + "ground_friction": 0.6114289854796422, + "object_restitution": 0.5735212843334716, + "object_friction": 0.06636478436451264, + "collision_distance_m": 0.016339427622643628, + "drag_damping": 19.38123542522129, + "dashpot_damping": 197.93379319002173 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1245, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.046470757573843 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 226, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 710, + "hand_B": 535 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.036562975030392, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05542119103483856, + "workspace_s": 0.28709392296150327, + "objective_s": 0.005639506969600916, + "stage_capture_s": 0.1292808661237359, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007474829209968448, + "complete_s": 0.018331333994865417 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.813299402594566e-05, + "complete_s": 0.00023688818328082561 + } + }, + "total_s": 0.44075320987030864 + } + } + }, + "wall_time_s": 8.965517514152452, + "outcome": "finite", + "score": 0.0008962896083394595, + "tell_score": 0.0008962896083394595, + "observation_score": 0.0004860439068520306, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..656264e8b35f20ffbc203a6bd307bb568bde7585 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b2c0b25749df7a610cddaef701b1bc96659cd07a22d798a782270ff07a8c32d +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..1663813d159daf4a4ed9076314f1808137ae2622 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14bdd7d08d921edd391f8f21b25beef185cc9229e0452718a366186f9b52cbe0 +size 88498 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a73f7df5a3af12312ad2af64e33dbacff6e073a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g045/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d00777f9f416d3938ba6cb7bc596862a9f814e403fa786ec738ec7312ffc3601 +size 396268