sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 81/173

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 61,
+  "ask_index": 7,
+  "global_ask_index": 678,
+  "normalized": [
+    0.36454633257890656,
+    0.9370127313142522,
+    0.9992913544188717,
+    0.5888882163725057,
+    0.9822419167606937,
+    0.4779784023281124,
+    0.046537446998318584,
+    0.3798815258832937,
+    0.11859907648006257,
+    0.36064376629092065,
+    0.979520514293348,
+    0.8959509602337477
+  ],
+  "settings": {
+    "spring_y": 36454.63325789066,
+    "object_radius_m": 0.047480509252570094,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.051222175146075404,
+    "controller_max_neighbours": 78,
+    "ground_restitution": 0.4779784023281124,
+    "ground_friction": 0.09307489399663717,
+    "object_restitution": 0.3798815258832937,
+    "object_friction": 0.23719815296012514,
+    "collision_distance_m": 0.024425750651636827,
+    "drag_damping": 19.59041028586696,
+    "dashpot_damping": 179.19019204674953
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1639,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.051208239048719406
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 246,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 941,
+      "hand_B": 698
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.024261930957437,
+    "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": 0.05131342285312712,
+        "workspace_s": 0.22022642800584435,
+        "objective_s": 0.005901724100112915,
+        "stage_capture_s": 0.22385964589193463,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00797041691839695,
+            "complete_s": 0.018865538062527776
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010329298675060272,
+            "complete_s": 0.0002429438754916191
+          }
+        },
+        "total_s": 0.46928861597552896
+      }
+    }
+  },
+  "wall_time_s": 8.570739943068475,
+  "outcome": "finite",
+  "score": 0.0008842711362961913,
+  "tell_score": 0.0008842711362961913,
+  "observation_score": 0.0005367835754982211,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a07/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc8ceb47b8908e6bb49e8f12d02b3be20c7d7180ece68f8a9583469af71f9ec
+size 2528894

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a08/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab7f7d54197a131fd85da479f22c7afb48d1b1648502cbe4917feb599bb6cf12
+size 88738

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a08/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23e31be24bea6fe0841c1fc578944a37a477849aabae1275dc1d944b1894196a
+size 397660

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a08/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 61,
+  "ask_index": 8,
+  "global_ask_index": 679,
+  "normalized": [
+    0.3908663363769952,
+    0.8515499978128125,
+    0.9983067675173919,
+    0.5108181118001803,
+    0.9230888036141134,
+    0.5849611136300344,
+    0.4091918413236556,
+    0.4489134463130587,
+    0.39920524900809384,
+    0.4432916667978183,
+    0.9304063930260426,
+    0.8710887058885124
+  ],
+  "settings": {
+    "spring_y": 39086.63363769952,
+    "object_radius_m": 0.0440619999125125,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04575726782601263,
+    "controller_max_neighbours": 74,
+    "ground_restitution": 0.5849611136300344,
+    "ground_friction": 0.8183836826473112,
+    "object_restitution": 0.4489134463130587,
+    "object_friction": 0.7984104980161877,
+    "collision_distance_m": 0.02773166667191273,
+    "drag_damping": 18.608127860520852,
+    "dashpot_damping": 174.21774117770246
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1185,
+    "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": 224,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 682,
+      "hand_B": 503
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.041298690019175,
+    "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": 0.056470561074092984,
+        "workspace_s": 0.21459805918857455,
+        "objective_s": 0.005946556804701686,
+        "stage_capture_s": 0.12316162721253932,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008604735834524035,
+            "complete_s": 0.019465138902887702
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001356180291622877,
+            "complete_s": 0.00027171801775693893
+          }
+        },
+        "total_s": 0.3636096480768174
+      }
+    }
+  },
+  "wall_time_s": 8.994434162974358,
+  "outcome": "finite",
+  "score": 0.0008873493330359464,
+  "tell_score": 0.0008873493330359464,
+  "observation_score": 0.0004958420157726084,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a08/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8fd2f50970e14320e743ce8735dd5e62c09835028a011c2712eebf4d2fd75d
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a09/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6f953c1d906652116356301901a6da320d57ab9bae56e44fe0c2de6c9dcfe4
+size 87842

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a09/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b4409d3e816a3ca78d609efe92aab048354e1330d706f07e260dc44d9e6cb93
+size 392992

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a09/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 61,
+  "ask_index": 9,
+  "global_ask_index": 680,
+  "normalized": [
+    0.38677775235178324,
+    0.8822293382318543,
+    0.9881136026965218,
+    0.4757279915289509,
+    0.7616739427931077,
+    0.6172056320721111,
+    0.042496789666291425,
+    0.4998258765726994,
+    0.42861847592917496,
+    0.3511714548523448,
+    0.9197931449339106,
+    0.8010765222062144
+  ],
+  "settings": {
+    "spring_y": 38677.77523517833,
+    "object_radius_m": 0.045289173529274175,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.043300959407026565,
+    "controller_max_neighbours": 63,
+    "ground_restitution": 0.6172056320721111,
+    "ground_friction": 0.08499357933258285,
+    "object_restitution": 0.4998258765726994,
+    "object_friction": 0.8572369518583499,
+    "collision_distance_m": 0.024046858194093794,
+    "drag_damping": 18.395862898678214,
+    "dashpot_damping": 160.2153044412429
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 951,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04327985271811485
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 213,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 550,
+      "hand_B": 401
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.041298690019175,
+    "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": 0.05080886301584542,
+        "workspace_s": 0.308379041031003,
+        "objective_s": 0.005889028077945113,
+        "stage_capture_s": 0.12442097789607942,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008266374934464693,
+            "complete_s": 0.019160656025633216
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.865593165159225e-05,
+            "complete_s": 0.00023300410248339176
+          }
+        },
+        "total_s": 0.4582496830262244
+      }
+    }
+  },
+  "wall_time_s": 8.57681937306188,
+  "outcome": "finite",
+  "score": 0.0009306861516413072,
+  "tell_score": 0.0009306861516413072,
+  "observation_score": 0.0005151708267452271,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a09/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b40b559278b4f852d04518eb02ae647000ad1dd56859d029c22ed53c5cb9739
+size 2528894

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a10/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0f0ff115e71801b046dd7029a125417924d98c92b0b910b846b1d38ab804f5
+size 88014

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a10/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2e0ab53e1f8a40b4235943734c142fcdf24501486479579989f21c21e7b6dd
+size 393864

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a10/record.json

@@ -0,0 +1,148 @@
+{
+  "stage": "cma_ask",
+  "generation": 61,
+  "ask_index": 10,
+  "global_ask_index": 681,
+  "normalized": [
+    0.41284934349403535,
+    0.8247545713156657,
+    0.9988886684876455,
+    0.4910265051424551,
+    0.712931640442367,
+    0.48427678200277713,
+    0.4134861590303932,
+    0.6274530273973418,
+    0.30810888349541204,
+    0.33238170664060995,
+    0.9986540320863344,
+    0.8884804637533259
+  ],
+  "settings": {
+    "spring_y": 41284.934349403535,
+    "object_radius_m": 0.04299018285262663,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04437185535997186,
+    "controller_max_neighbours": 59,
+    "ground_restitution": 0.48427678200277713,
+    "ground_friction": 0.8269723180607864,
+    "object_restitution": 0.6274530273973418,
+    "object_friction": 0.6162177669908241,
+    "collision_distance_m": 0.0232952682656244,
+    "drag_damping": 19.97308064172669,
+    "dashpot_damping": 177.69609275066517
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 995,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04436160624027252
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 211,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 555,
+      "hand_B": 440
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 5.63457308197394,
+    "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": 0.05354957398958504,
+        "workspace_s": 0.20568246790207922,
+        "objective_s": 0.005814738105982542,
+        "stage_capture_s": 0.12432646402157843,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007433497812598944,
+            "complete_s": 0.01830708095803857
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010565598495304585,
+            "complete_s": 0.00023324601352214813
+          }
+        },
+        "total_s": 0.35452774609439075
+      }
+    }
+  },
+  "wall_time_s": 6.055374504998326,
+  "outcome": "finite",
+  "score": 0.0008836443047975749,
+  "tell_score": 0.0008836443047975749,
+  "observation_score": 0.0005104599005082487,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/a10/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b48c3c8f8a7995f198dfb216364d049cabb886a516df72edb685da31c6e1cef
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/issued.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ebee3c9cf28ab84676bfc713111635cf7d6bcde454925a6c4c88a312a1aac9
+size 1184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/lifecycle.jsonl

@@ -0,0 +1,48 @@
+{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791676251.2739675, "t_invocation_s": 0.000127722, "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": 1791676251.274682, "t_invocation_s": 0.000842334, "wave": 0, "members": [0, 1], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676251.7647538, "t_invocation_s": 0.490914166, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05237349309027195, "workspace_s": 0.28312526689842343, "objective_s": 0.005598931107670069, "stage_capture_s": 0.12471353588625789, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007375858025625348, "complete_s": 0.01823591790162027}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010200589895248413, "complete_s": 0.0002308320254087448}}, "total_s": 0.43209363985806704}, "object_springs": 18544, "controller_springs": 1252}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676252.1830442, "t_invocation_s": 0.909204526, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05055655795149505, "workspace_s": 0.2093339948914945, "objective_s": 0.005748173920437694, "stage_capture_s": 0.12358161504380405, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007418900029733777, "complete_s": 0.01826617494225502}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00014328304678201675, "complete_s": 0.00027744402177631855}}, "total_s": 0.35738048795610666}, "object_springs": 18544, "controller_springs": 1307}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676252.1882539, "t_invocation_s": 0.914414169, "wave": 0, "members": [0, 1]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676260.2212155, "t_invocation_s": 8.947375931, "wave": 0, "index": 0, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676260.2337644, "t_invocation_s": 8.959924392, "wave": 0, "index": 1, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676260.2610984, "t_invocation_s": 8.987259203, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676260.2872496, "t_invocation_s": 9.013410241, "wave": 0, "commit_order": [0, 1]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791676260.288086, "t_invocation_s": 9.014246327, "wave": 1, "members": [2, 3], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676260.7870433, "t_invocation_s": 9.513203842, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.056202835869044065, "workspace_s": 0.2869249079376459, "objective_s": 0.005555629031732678, "stage_capture_s": 0.12575047090649605, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007212109863758087, "complete_s": 0.018024874851107597}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011715618893504143, "complete_s": 0.0002567879855632782}}, "total_s": 0.4366994979791343}, "object_springs": 18177, "controller_springs": 1309}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676261.1985056, "t_invocation_s": 9.924666006, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05235910206101835, "workspace_s": 0.2052103029564023, "objective_s": 0.00557773606851697, "stage_capture_s": 0.12381083192303777, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007255826843902469, "complete_s": 0.018123861867934465}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.542098268866539e-05, "complete_s": 0.0002280070912092924}}, "total_s": 0.3531277268193662}, "object_springs": 18544, "controller_springs": 1238}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676261.2037783, "t_invocation_s": 9.929938421, "wave": 1, "members": [2, 3]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676269.2439027, "t_invocation_s": 17.970063295, "wave": 1, "index": 2, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676269.256472, "t_invocation_s": 17.982632203, "wave": 1, "index": 3, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676269.287242, "t_invocation_s": 18.013402699, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676269.3160737, "t_invocation_s": 18.042234402, "wave": 1, "commit_order": [2, 3]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791676269.3169131, "t_invocation_s": 18.043073506, "wave": 2, "members": [4, 5], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676269.821982, "t_invocation_s": 18.548142297, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05686105880886316, "workspace_s": 0.2934681358747184, "objective_s": 0.00572965107858181, "stage_capture_s": 0.12413246696814895, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007691418984904885, "complete_s": 0.018493304029107094}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.784987196326256e-05, "complete_s": 0.00022180983796715736}}, "total_s": 0.4422205379232764}, "object_springs": 18177, "controller_springs": 1759}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676270.2455485, "t_invocation_s": 18.971708876, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05060893599875271, "workspace_s": 0.2180774719454348, "objective_s": 0.00577888498082757, "stage_capture_s": 0.12333408906124532, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008382018888369203, "complete_s": 0.019219669979065657}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.507895447313786e-05, "complete_s": 0.00020359200425446033}}, "total_s": 0.3667696029879153}, "object_springs": 18177, "controller_springs": 1616}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676270.2463517, "t_invocation_s": 18.972511807, "wave": 2, "members": [4, 5]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676278.2221258, "t_invocation_s": 26.948286437, "wave": 2, "index": 4, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676278.2348697, "t_invocation_s": 26.96102987, "wave": 2, "index": 5, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676278.2658172, "t_invocation_s": 26.991977841, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676278.2953432, "t_invocation_s": 27.021504015, "wave": 2, "commit_order": [4, 5]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791676278.2961328, "t_invocation_s": 27.022293049, "wave": 3, "members": [6, 7], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676278.8043733, "t_invocation_s": 27.530533779, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.14180666604079306, "workspace_s": 0.21068316791206598, "objective_s": 0.00603753887116909, "stage_capture_s": 0.12511970102787018, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007354493951424956, "complete_s": 0.01822681212797761}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.93809662759304e-05, "complete_s": 0.00022989301942288876}}, "total_s": 0.36045781895518303}, "object_springs": 18544, "controller_springs": 1144}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676279.335519, "t_invocation_s": 28.061679413, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05131342285312712, "workspace_s": 0.22022642800584435, "objective_s": 0.005901724100112915, "stage_capture_s": 0.22385964589193463, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00797041691839695, "complete_s": 0.018865538062527776}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010329298675060272, "complete_s": 0.0002429438754916191}}, "total_s": 0.46928861597552896}, "object_springs": 18544, "controller_springs": 1639}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676279.3406951, "t_invocation_s": 28.06685512, "wave": 3, "members": [6, 7]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676287.3733203, "t_invocation_s": 36.099480819, "wave": 3, "index": 6, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676287.3861253, "t_invocation_s": 36.112285475, "wave": 3, "index": 7, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676287.4134622, "t_invocation_s": 36.139623032, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676287.4400606, "t_invocation_s": 36.166221233, "wave": 3, "commit_order": [6, 7]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791676287.440863, "t_invocation_s": 36.167023024, "wave": 4, "members": [8, 9], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676287.8670251, "t_invocation_s": 36.593185821, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.056470561074092984, "workspace_s": 0.21459805918857455, "objective_s": 0.005946556804701686, "stage_capture_s": 0.12316162721253932, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008604735834524035, "complete_s": 0.019465138902887702}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001356180291622877, "complete_s": 0.00027171801775693893}}, "total_s": 0.3636096480768174}, "object_springs": 18544, "controller_springs": 1185}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676288.3864233, "t_invocation_s": 37.11258391, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05080886301584542, "workspace_s": 0.308379041031003, "objective_s": 0.005889028077945113, "stage_capture_s": 0.12442097789607942, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008266374934464693, "complete_s": 0.019160656025633216}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.865593165159225e-05, "complete_s": 0.00023300410248339176}}, "total_s": 0.4582496830262244}, "object_springs": 18544, "controller_springs": 951}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676288.3918118, "t_invocation_s": 37.117971958, "wave": 4, "members": [8, 9]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676296.4417617, "t_invocation_s": 45.167922282, "wave": 4, "index": 8, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676296.454671, "t_invocation_s": 45.1808312, "wave": 4, "index": 9, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676296.4855585, "t_invocation_s": 45.211719083, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676296.515422, "t_invocation_s": 45.241582798, "wave": 4, "commit_order": [8, 9]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791676296.5163274, "t_invocation_s": 45.242487587, "wave": 5, "members": [10], "occupancy": 1}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791676296.9300756, "t_invocation_s": 45.65623629, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05354957398958504, "workspace_s": 0.20568246790207922, "objective_s": 0.005814738105982542, "stage_capture_s": 0.12432646402157843, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007433497812598944, "complete_s": 0.01830708095803857}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010565598495304585, "complete_s": 0.00023324601352214813}}, "total_s": 0.35452774609439075}, "object_springs": 18544, "controller_springs": 995}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791676296.93531, "t_invocation_s": 45.661470077, "wave": 5, "members": [10]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791676302.578263, "t_invocation_s": 51.304423386, "wave": 5, "index": 10, "arrival": 0}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791676302.5789852, "t_invocation_s": 51.305145277, "wave": 5, "drained": {"10": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791676302.6060433, "t_invocation_s": 51.332203994, "wave": 5, "commit_order": [10]}
+{"invocation": 1, "kind": "told", "t_unix_s": 1791676302.6081824, "t_invocation_s": 51.334342767, "generation": 61, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 481}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/strategy_after_ask.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ca5428149394b8dc584c1968253eeacbfb97c0cff39254d7cd0120ed84b88ad
+size 31263

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/strategy_after_tell.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920500b496a7208351bcf1a552391af34aa2688516495ab7099c814bb94a21e0
+size 27979

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g061/told.json

@@ -0,0 +1,60 @@
+{
+  "generation": 61,
+  "told_scores": [
+    0.0008720477871864024,
+    0.000895906421365387,
+    0.0009125949473612489,
+    0.0008695110326107447,
+    0.0009409350625432784,
+    0.0009065423259157602,
+    0.0009141842393915154,
+    0.0008842711362961913,
+    0.0008873493330359464,
+    0.0009306861516413072,
+    0.0008836443047975749
+  ],
+  "physical_failures": 0,
+  "physical_failures_total": 0,
+  "issued_asks_total": 682,
+  "told_asks_total": 682,
+  "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": 62,
+    "countevals": 682,
+    "sigma": 0.1034181136264413
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a00/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2078ebfa4448421009b612c41840907f2ae0a6f1e30a99b7c2a4e05472b3406d
+size 87954

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a00/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8eecbd9cdeede67440a82ffbf466d08da126e9e5218514deb0787642b2ddfb3
+size 393536

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a00/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 0,
+  "global_ask_index": 682,
+  "normalized": [
+    0.4668656074799189,
+    0.9217331961528998,
+    0.9838755743818364,
+    0.47286864602499734,
+    0.9486451813368934,
+    0.45155247292581446,
+    0.034445707126297326,
+    0.5034547687254877,
+    0.339308264537124,
+    0.36243344130942645,
+    0.9990662408284247,
+    0.8177040640287203
+  ],
+  "settings": {
+    "spring_y": 46686.56074799189,
+    "object_radius_m": 0.046869327846116,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04310080522174982,
+    "controller_max_neighbours": 76,
+    "ground_restitution": 0.45155247292581446,
+    "ground_friction": 0.06889141425259465,
+    "object_restitution": 0.5034547687254877,
+    "object_friction": 0.678616529074248,
+    "collision_distance_m": 0.024497337652377056,
+    "drag_damping": 19.981324816568492,
+    "dashpot_damping": 163.54081280574405
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 979,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.043092068284749985
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 218,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 583,
+      "hand_B": 396
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 7.962717688875273,
+    "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": 0.05455340421758592,
+        "workspace_s": 0.27990306285209954,
+        "objective_s": 0.005502170184627175,
+        "stage_capture_s": 0.12368796998634934,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007240358041599393,
+            "complete_s": 0.018120198976248503
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010942504741251469,
+            "complete_s": 0.0002575989346951246
+          }
+        },
+        "total_s": 0.4276365269906819
+      }
+    }
+  },
+  "wall_time_s": 8.878799625206739,
+  "outcome": "finite",
+  "score": 0.0008867732803269703,
+  "tell_score": 0.0008867732803269703,
+  "observation_score": 0.00048103444963751,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a00/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de20cde59d437206906b0b008a395a70d790c7080d90e0c232fcb1dd032a1796
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a01/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56de0370074c1566d70280661c23303e59e6782aa5f6399b8ed391cb5cd37370
+size 86442

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a01/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dac0c232f7d4b7621ba6eca49ba44a194cc6aea8d5026ef2541bf9dff537b90
+size 386284

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a01/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 1,
+  "global_ask_index": 683,
+  "normalized": [
+    0.41503432011577185,
+    0.7268019769993339,
+    0.9437817563362357,
+    0.5414599322443304,
+    0.9999614748610895,
+    0.4485715072980034,
+    0.3589406402865123,
+    0.866262767568255,
+    0.279531649549892,
+    0.5706935996946859,
+    0.999461342893539,
+    0.8639465364581662
+  ],
+  "settings": {
+    "spring_y": 41503.432011577184,
+    "object_radius_m": 0.03907207907997336,
+    "object_max_neighbours": 47,
+    "controller_radius_m": 0.04790219525710313,
+    "controller_max_neighbours": 79,
+    "ground_restitution": 0.4485715072980034,
+    "ground_friction": 0.7178812805730246,
+    "object_restitution": 0.866262767568255,
+    "object_friction": 0.559063299099784,
+    "collision_distance_m": 0.032827743987787435,
+    "drag_damping": 19.989226857870783,
+    "dashpot_damping": 172.78930729163324
+  },
+  "topology": {
+    "object_springs": 17795,
+    "controller_springs": 1365,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.03817855194211006
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.047882068902254105
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 231,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 783,
+      "hand_B": 582
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 7.962717688875273,
+    "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": 0.04872644902206957,
+        "workspace_s": 0.20707337092608213,
+        "objective_s": 0.0058908730279654264,
+        "stage_capture_s": 0.13008115789853036,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007719338871538639,
+            "complete_s": 0.018426306080073118
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.964988566935062e-05,
+            "complete_s": 0.00023834407329559326
+          }
+        },
+        "total_s": 0.36189419287256896
+      }
+    }
+  },
+  "wall_time_s": 8.398974822135642,
+  "outcome": "finite",
+  "score": 0.0009040355126910735,
+  "tell_score": 0.0009040355126910735,
+  "observation_score": 0.0005193623080829494,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a01/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6179570fc845843db0b3e2b1e597438f0338784182fbcdf625649b42681d5eff
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a02/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55e9951aa2268e3f497026bd836095e5f7200616e0f80e8348dc65ae44b6b95d
+size 88670

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a02/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1844470bfb96ab485c4f0d0fba2c90db15e0a7bc1c82a99d51a53d613a2cc322
+size 397288

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a02/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 2,
+  "global_ask_index": 684,
+  "normalized": [
+    0.3875362020801042,
+    0.8427848942266009,
+    0.9937999290589592,
+    0.5069888299213869,
+    0.9818924367245281,
+    0.2950601377107819,
+    0.2553402102904105,
+    0.5499271489979117,
+    0.2925002763968215,
+    0.8174203150554388,
+    0.9988764251403102,
+    0.7944264150071554
+  ],
+  "settings": {
+    "spring_y": 38753.62020801042,
+    "object_radius_m": 0.043711395769064035,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04548921809449709,
+    "controller_max_neighbours": 78,
+    "ground_restitution": 0.2950601377107819,
+    "ground_friction": 0.510680420580821,
+    "object_restitution": 0.5499271489979117,
+    "object_friction": 0.585000552793643,
+    "collision_distance_m": 0.042696812602217554,
+    "drag_damping": 19.9775285028062,
+    "dashpot_damping": 158.88528300143108
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1166,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.045485883951187134
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 224,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 678,
+      "hand_B": 488
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.031630306039006,
+    "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": 0.05635126493871212,
+        "workspace_s": 0.2857744989451021,
+        "objective_s": 0.005662793992087245,
+        "stage_capture_s": 0.125212729210034,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008002043003216386,
+            "complete_s": 0.018880313960835338
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.85199585556984e-05,
+            "complete_s": 0.00021312711760401726
+          }
+        },
+        "total_s": 0.435904243029654
+      }
+    }
+  },
+  "wall_time_s": 8.958416315959767,
+  "outcome": "finite",
+  "score": 0.000865005486014834,
+  "tell_score": 0.000865005486014834,
+  "observation_score": 0.0004925740015537235,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a02/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e775e3bbc5c61881c4a4aab78089a422074984f4a5499b8dbab9622b9dad9545
+size 2528858

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a03/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27e1286f1e586be92c0c4f548517c8b93c7cf703a2fa84dfdf8e011aa93116b
+size 89018

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a03/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da25328485871554219462a71c66ade43b4e2679a40c0b2549dafefea2ada6c4
+size 399348

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a03/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 3,
+  "global_ask_index": 685,
+  "normalized": [
+    0.350932451228381,
+    0.8448667345385565,
+    0.9811617252211443,
+    0.5238004856779239,
+    0.9981197631914015,
+    0.627956793657385,
+    0.46614609428757325,
+    0.402197169262013,
+    0.2967567825343975,
+    0.6350436432861385,
+    0.9849493515125154,
+    0.9041148409516785
+  ],
+  "settings": {
+    "spring_y": 35093.2451228381,
+    "object_radius_m": 0.043794669381542264,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04666603399745468,
+    "controller_max_neighbours": 79,
+    "ground_restitution": 0.627956793657385,
+    "ground_friction": 0.9322921885751465,
+    "object_restitution": 0.402197169262013,
+    "object_friction": 0.593513565068795,
+    "collision_distance_m": 0.03540174573144554,
+    "drag_damping": 19.698987030250308,
+    "dashpot_damping": 180.8229681903357
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1269,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04666493833065033
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 228,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 727,
+      "hand_B": 542
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.031630306039006,
+    "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": 0.05300301895476878,
+        "workspace_s": 0.21295144991017878,
+        "objective_s": 0.00571017898619175,
+        "stage_capture_s": 0.12495479197241366,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007091023027896881,
+            "complete_s": 0.017941925209015608
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001015739981085062,
+            "complete_s": 0.00023235706612467766
+          }
+        },
+        "total_s": 0.36196139291860163
+      }
+    }
+  },
+  "wall_time_s": 8.469176874961704,
+  "outcome": "finite",
+  "score": 0.000877448050273239,
+  "tell_score": 0.000877448050273239,
+  "observation_score": 0.0005093878046617759,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a03/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c5f218539151a479d0244d326d5945461e4edf07ed9e9d96ce566f8dc21c3b
+size 2528878

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a04/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03138d05fae86a09f58a987415420c02209eadaf457cbdc68759e2349cf539e
+size 86722

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a04/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5ee8ddde5b9842ec0a1ab90b4089f3ce330338fefdd03bd53005ceaec8ee14
+size 387364

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a04/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 4,
+  "global_ask_index": 686,
+  "normalized": [
+    0.4533744981494418,
+    0.9888915668928282,
+    0.9996700166868105,
+    0.41323155570684067,
+    0.9999945186824616,
+    0.32891609809803773,
+    0.03127832047791864,
+    0.42457063099411113,
+    0.4295974260621298,
+    0.3233061681502205,
+    0.9993443414875062,
+    0.8149281977880389
+  ],
+  "settings": {
+    "spring_y": 45337.44981494418,
+    "object_radius_m": 0.04955566267571313,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.03892620889947885,
+    "controller_max_neighbours": 79,
+    "ground_restitution": 0.32891609809803773,
+    "ground_friction": 0.06255664095583728,
+    "object_restitution": 0.42457063099411113,
+    "object_friction": 0.8591948521242596,
+    "collision_distance_m": 0.02293224672600882,
+    "drag_damping": 19.986886829750123,
+    "dashpot_damping": 162.98563955760778
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 670,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.038924019783735275
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 201,
+    "controls_without_attachment": 7,
+    "attachments_by_hand": {
+      "hand_A": 441,
+      "hand_B": 229
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 7.966421911958605,
+    "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": 0.13188754301518202,
+        "workspace_s": 0.20740905194543302,
+        "objective_s": 0.005618246039375663,
+        "stage_capture_s": 0.12235377402976155,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007147395983338356,
+            "complete_s": 0.018008742947131395
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.314692579209805e-05,
+            "complete_s": 0.0002147809136658907
+          }
+        },
+        "total_s": 0.35376978712156415
+      }
+    }
+  },
+  "wall_time_s": 8.966860336950049,
+  "outcome": "finite",
+  "score": 0.000928375345394333,
+  "tell_score": 0.000928375345394333,
+  "observation_score": 0.0005222858227354327,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a04/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7777742ba6e78319882a61853353c73c2d9d21b822a6fb56856f01363241697d
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a05/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de4edb6e0e7608a28715a2dfead7c481f19e0b961309d04a0bd0987fc0027d54
+size 84074

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a05/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:666f4ec8eaec89eb26c6ec18f0a76baf59798d0a75c092c7b20acadb58590f0f
+size 374184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a05/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 5,
+  "global_ask_index": 687,
+  "normalized": [
+    0.43097077525424243,
+    0.9416836936244303,
+    0.9361003040855903,
+    0.4390595702411404,
+    0.734675200960273,
+    0.37192936944014593,
+    0.05550660183204134,
+    0.5041715297452807,
+    0.30370040058715003,
+    0.3504074982541893,
+    0.9158030684886987,
+    0.807992134985169
+  ],
+  "settings": {
+    "spring_y": 43097.07752542424,
+    "object_radius_m": 0.04766734774497721,
+    "object_max_neighbours": 47,
+    "controller_radius_m": 0.04073416991687983,
+    "controller_max_neighbours": 61,
+    "ground_restitution": 0.37192936944014593,
+    "ground_friction": 0.11101320366408268,
+    "object_restitution": 0.5041715297452807,
+    "object_friction": 0.6074008011743001,
+    "collision_distance_m": 0.024016299930167573,
+    "drag_damping": 18.316061369773976,
+    "dashpot_damping": 161.59842699703378
+  },
+  "topology": {
+    "object_springs": 17796,
+    "controller_springs": 759,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.03979696333408356
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04073144868016243
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 197,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 470,
+      "hand_B": 289
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 7.966421911958605,
+    "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": 0.04759325482882559,
+        "workspace_s": 0.2893935760948807,
+        "objective_s": 0.0057561860885471106,
+        "stage_capture_s": 0.12997335498221219,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007607159903272986,
+            "complete_s": 0.01835444290190935
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010009901598095894,
+            "complete_s": 0.0002237290609627962
+          }
+        },
+        "total_s": 0.4438764520455152
+      }
+    }
+  },
+  "wall_time_s": 8.48383967182599,
+  "outcome": "finite",
+  "score": 0.0009843534390468628,
+  "tell_score": 0.0009843534390468628,
+  "observation_score": 0.0005545495605067058,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e7b8425450f382fb39090db789ab88c33f25c86718a77279c820caba8764ca
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a06/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7027d8a2fa219879c803a009c95723506893af3808960687a7c88eee636d797f
+size 89930

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a06/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d34211d798d4a5180878642f201439bc2b6aa32bcd00d5b6aeca1bb66c69433
+size 403640

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a06/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 6,
+  "global_ask_index": 688,
+  "normalized": [
+    0.3971662424798337,
+    0.8791189687989424,
+    0.9877877289558551,
+    0.5738980617606808,
+    0.8318526333994399,
+    0.5349227407484302,
+    0.40500798174518027,
+    0.7168901595055296,
+    0.2832189628835185,
+    0.4457788278551742,
+    0.9963554582067312,
+    0.806797862941395
+  ],
+  "settings": {
+    "spring_y": 39716.62424798337,
+    "object_radius_m": 0.0451647587519577,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.05017286432324766,
+    "controller_max_neighbours": 68,
+    "ground_restitution": 0.5349227407484302,
+    "ground_friction": 0.8100159634903605,
+    "object_restitution": 0.7168901595055296,
+    "object_friction": 0.566437925767037,
+    "collision_distance_m": 0.027831153114206968,
+    "drag_damping": 19.927109164134624,
+    "dashpot_damping": 161.359572588279
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1484,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.05016186088323593
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 229,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 829,
+      "hand_B": 655
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.032514546997845,
+    "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": 0.05908491602167487,
+        "workspace_s": 0.211925437906757,
+        "objective_s": 0.00564293097704649,
+        "stage_capture_s": 0.12815191806294024,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007718248059973121,
+            "complete_s": 0.01856304402463138
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010427110828459263,
+            "complete_s": 0.00024927197955548763
+          }
+        },
+        "total_s": 0.3647120750974864
+      }
+    }
+  },
+  "wall_time_s": 8.997863625874743,
+  "outcome": "finite",
+  "score": 0.0008808068767267748,
+  "tell_score": 0.0008808068767267748,
+  "observation_score": 0.0005234345833171308,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a06/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0505c6de7a5e9dcb251f437ff0c06577f63f0e058c32755fa42f9bcf358c21e
+size 2528874

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a07/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099f480050420d39207eb6a88327b8273c82510b587ee9f53f13f35630eb8982
+size 89846

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a07/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5874fb167eeb89da66f91caffa52602ed0796726b85549c8230abfc8f5a6b23
+size 403032

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g062/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 62,
+  "ask_index": 7,
+  "global_ask_index": 689,
+  "normalized": [
+    0.3376706233765921,
+    0.8584114467711176,
+    0.9946705722554569,
+    0.558706190795383,
+    0.9366276078608808,
+    0.4418295255773979,
+    0.02516422793449238,
+    0.37741807003293526,
+    0.2720371768378817,
+    0.5075031177056435,
+    0.9750591312449254,
+    0.9908924454265764
+  ],
+  "settings": {
+    "spring_y": 33767.06233765921,
+    "object_radius_m": 0.044336457870844705,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.049109433355676815,
+    "controller_max_neighbours": 75,
+    "ground_restitution": 0.4418295255773979,
+    "ground_friction": 0.05032845586898476,
+    "object_restitution": 0.37741807003293526,
+    "object_friction": 0.5440743536757634,
+    "collision_distance_m": 0.03030012470822574,
+    "drag_damping": 19.501182624898508,
+    "dashpot_damping": 198.17848908531528
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1453,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04908797889947891
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 234,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 823,
+      "hand_B": 630
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.032514546997845,
+    "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": 0.053008024115115404,
+        "workspace_s": 0.3146356539800763,
+        "objective_s": 0.0060468860901892185,
+        "stage_capture_s": 0.12427410297095776,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008224306860938668,
+            "complete_s": 0.0191274038515985
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00012569990940392017,
+            "complete_s": 0.00026130303740501404
+          }
+        },
+        "total_s": 0.46452081901952624
+      }
+    }
+  },
+  "wall_time_s": 8.576404471183196,
+  "outcome": "finite",
+  "score": 0.0008884124779430514,
+  "tell_score": 0.0008884124779430514,
+  "observation_score": 0.0005332199615717281,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}