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+{
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+ "criterion": "plan \u00a713.5 native-file criterion (exact YAML 1.2 user config = resolved config + committed updates; exact identity; history end; representative rows; metric_notes.md), with the owner-accepted (2026-10-04, W&B option A, photometric_fit_01 preflight _02) omission by W&B of the two empty rt_contract mappings renderer_identity={} and build_identity={} in cma_manifest and adam_manifest; same payload schema, same pattern approved for this lane 2026-10-07",
+ "remote_path": "serialexperimentsleon/belt_perception/21d2db2f38834f94",
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+  {
+   "path": "/adam_manifest/identity/inputs/rt_contract/renderer_identity",
+   "remote": "absent",
+   "local": {}
+  },
+  {
+   "path": "/cma_manifest/inputs/rt_contract/build_identity",
+   "remote": "absent",
+   "local": {}
+  },
+  {
+   "path": "/cma_manifest/inputs/rt_contract/renderer_identity",
+   "remote": "absent",
+   "local": {}
+  }
+ ],
+ "config_differences_verified_by": "full recursive diff of readback_01/local_expectation.json expected_config vs readback_01/native_config.json: exactly these four paths",
+ "only_owner_accepted_differences": true,
+ "strict_helper_result": "readback_01/result.json (service_ready=false under strict equality)",
+ "writes_by_readback": 0,
+ "preflight_01": "photometric_service_preflight_01: W&B init rejected (HTTP 422 description too long, the #1051 defect absent from main); 0 records; incident evidence"
+}

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+    "--adam-run",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/adam",
+    "--out",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/telemetry-collector",
+    "--run-name",
+    "rt_mesh_refit05_photometric_projadam_c0015_01",
+    "--online"
+  ],
+  "recover_delivery": [
+    "/mnt/data0/magna/belt_perception_wt_rt_projadam_execute_20261007/.venv/bin/python",
+    "-u",
+    "scripts/real_rgbd_photometric_cma_telemetry.py",
+    "--run-dir",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/cma",
+    "--adam-run",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/adam",
+    "--out",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/telemetry-collector",
+    "--run-name",
+    "rt_mesh_refit05_photometric_projadam_c0015_01",
+    "--online",
+    "--recover-delivery"
+  ],
+  "cma_resume": [
+    "/mnt/data0/magna/belt_perception_wt_rt_projadam_execute_20261007/.venv/bin/python",
+    "-u",
+    "scripts/real_rgbd_photometric_cma.py",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+    "--rt-contract",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/inputs/contract.json",
+    "--observations",
+    "cache",
+    "--observation-cache",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+    "--run-dir",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/cma",
+    "--device",
+    "cuda:0",
+    "--transitions",
+    "491",
+    "--max-generations",
+    "100",
+    "--candidate-width",
+    "2",
+    "--handoff-policy",
+    "d1_atomic_single_realization_v1",
+    "--resume"
+  ],
+  "adam_resume": [
+    "/mnt/data0/magna/belt_perception_wt_rt_projadam_execute_20261007/.venv/bin/python",
+    "-u",
+    "scripts/real_rgbd_photometric_adam.py",
+    "train",
+    "--run-dir",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/adam",
+    "--result-root",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148",
+    "--rt-contract",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/inputs/contract.json",
+    "--observations",
+    "cache",
+    "--observation-cache",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/observation_cache/v1_0058966e635f5429",
+    "--cma-run-dir",
+    "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01/cma",
+    "--device",
+    "cuda:0",
+    "--handoff-policy",
+    "d1_atomic_single_realization_v1",
+    "--complete-traversals",
+    "500",
+    "--checkpoint-every-updates",
+    "100",
+    "--projected-log-y",
+    "--resume"
+  ]
+}

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/launch_rt5.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+# Task-owned template; run_rt5_campaign.py prepare resolves the three literals.
+set -euo pipefail
+case "${1:-}" in start|resume) mode="$1" ;; *) echo 'Usage: launch_rt5.sh start|resume' >&2; exit 2 ;; esac
+cd /mnt/data0/magna/belt_perception_wt_rt_projadam_execute_20261007
+full_root=/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_05/photometric_fit_projadam_c0015_01/full_fit_01
+export CUDA_VISIBLE_DEVICES=0
+mkdir -p "$full_root/logs"
+# On a GPU exception the driver writes a small CUDA core dump (faulting kernel/PC) and then
+# aborts the child, so the Python error record is not written; resume re-runs missing asks.
+# No host core dump. Exit-time faults have not produced dumps (Xid 31 investigation note).
+export CUDA_ENABLE_COREDUMP_ON_EXCEPTION=1 CUDA_ENABLE_CPU_COREDUMP_ON_EXCEPTION=0
+export CUDA_COREDUMP_GENERATION_FLAGS=skip_global_memory,skip_shared_memory,skip_local_memory
+export CUDA_COREDUMP_FILE="$full_root/logs/cuda_core_%p_%t.nvcudmp"
+exec uv run --no-sync python -u scripts/run_rt5_campaign.py "$mode" \
+  --config "$full_root/campaign.json" \
+  >> "$full_root/logs/supervisor-$mode-$(date -u +%Y%m%dT%H%M%S)-$$.log" 2>&1

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/logs/attempt-001-adam-1.log

@@ -0,0 +1,521 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.84 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.61 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.88 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 1.17 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.59 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.86 ms  (cached)
+{
+  "total_updates": 245500,
+  "complete_traversals": 500,
+  "next_interval": 0,
+  "snapshots": [
+    0,
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sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/logs/attempt-001-cma-1.log

@@ -0,0 +1,92 @@
+(4_w,8)-aCMA-ES (mu_w=2.6,w_1=52%) in dimension 4 (seed=42, Wed Oct  7 17:37:26 2026)
+(4_w,8)-aCMA-ES (mu_w=2.6,w_1=52%) in dimension 4 (seed=42, Wed Oct  7 17:37:27 2026)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.32 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.28 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.29 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.21 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.24 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.25 ms  (cached)
+{
+  "status": "winner",
+  "stop_reason": "max_generations",
+  "native_stop": {},
+  "completed_generations": 100,
+  "issued_asks": 800,
+  "told_asks": 800,
+  "physical_failures": 0,
+  "centre_repeatability": null,
+  "handoff_policy": "d1_atomic_single_realization_v1",
+  "candidate_scheduling": {
+    "mode": "resident_waves",
+    "configured_max_width": 2,
+    "render_width": 1,
+    "packing": "none: separate Gaussian scenes, one camera per render",
+    "launch": "one host thread; per transition every member's dynamics is enqueued before any member is scored (CP1)",
+    "scoring_stream": "torch.cuda.default_stream for LBS, gsplat and both SSIM branches, after explicit endpoint and target readiness events",
+    "observations": "one provider traversal per wave; targets shared read-only by its members",
+    "warm_launch": "D3: one public wp.capture_launch of each candidate's dynamics capture during preparation"
+  },
+  "champion": {
+    "generation": 71,
+    "ask_index": 6,
+    "global_ask_index": 574,
+    "score": 0.006331785847367156,
+    "observation_score": 0.006331785847367156,
+    "normalized": [
+      0.06257413177316415,
+      0.18862791615845856,
+      0.9999982456791334,
+      0.9999673665319786
+    ],
+    "settings": {
+      "spring_y": 99999.9593927983,
+      "object_radius_m": 0.04324056087752124,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.07564890168164842,
+      "controller_max_neighbours": 54,
+      "ground_restitution": 0.06257413177316415,
+      "ground_friction": 0.3772558323169171,
+      "object_restitution": 0.43616711354907833,
+      "object_friction": 1.546992174649371,
+      "collision_distance_m": 0.01537335513025638,
+      "drag_damping": 39.99992982716534,
+      "dashpot_damping": 399.9869466127914
+    }
+  },
+  "pycma": {
+    "countiter": 100,
+    "countevals": 800,
+    "sigma": 0.0032984441010100417,
+    "xbest": [
+      0.06257413177316415,
+      0.18862791615845856,
+      0.9999982456791334,
+      0.9999673665319786
+    ],
+    "fbest": 0.006331785847367156,
+    "xbest_is_champion": true
+  },
+  "winner": {
+    "model": "winner/model",
+    "scored_rollout": "winner/rollout.npz",
+    "model_sha256": "44befb34a966423ac1ff01aa01372dd65927b938b72ba962ea101d71407d8ca9"
+  },
+  "handoff": {
+    "passed": null,
+    "report": "handoff/report.json",
+    "acceptance": {
+      "policy": "d1_atomic_single_realization_v1",
+      "owner_basis": "CMA candidate-parallelism plan \u00a77.2 D1, 2026-09-30",
+      "accepted": true
+    },
+    "numerical_status": "finite_independent_realization_difference",
+    "frozen_score": 0.00633179015579823
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/logs/attempt-001-collector-1.log

@@ -0,0 +1,43 @@
+wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
+wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
+wandb: setting up run 1ec847ce67014dea
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20261007_173731-1ec847ce67014dea
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run rt_mesh_refit05_photometric_projadam_c0015_01
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/1ec847ce67014dea
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+wandb: updating run metadata
+wandb: uploading history steps 257515-257515, summary
+wandb: 
+wandb: Run history:
+wandb:                           rp/config/K ▁▁
+wandb: rp/config/active/collision_distance_m ▁
+wandb:      rp/config/active/object_friction ▁
+wandb:   rp/config/active/object_restitution ▁
+wandb:             rp/config/active/spring_y ▁
+wandb:          rp/config/attachment_springs ▁
+wandb:         rp/config/complete_traversals ▁
+wandb:                          rp/config/lr ▁
+wandb:              rp/config/object_springs ▁
+wandb:             rp/config/planned_updates ▁
+wandb:                                  +410 ...
+wandb: 
+wandb: Run summary:
+wandb:                           rp/config/K 491
+wandb: rp/config/active/collision_distance_m 0
+wandb:      rp/config/active/object_friction 0
+wandb:   rp/config/active/object_restitution 0
+wandb:             rp/config/active/spring_y 0
+wandb:          rp/config/attachment_springs 1620
+wandb:         rp/config/complete_traversals 500
+wandb:                          rp/config/lr 0.001
+wandb:              rp/config/object_springs 21676
+wandb:             rp/config/planned_updates 245500
+wandb:                                  +410 ...
+wandb: 
+wandb: 🚀 View run rt_mesh_refit05_photometric_projadam_c0015_01 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/1ec847ce67014dea
+wandb: ⭐️ View project at: https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: Synced 2 W&B file(s), 0 media file(s), 0 artifact file(s) and 1 other file(s)
+wandb: Find logs at: /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20261007_173731-1ec847ce67014dea/logs

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/logs/attempt-001-evaluator-1.log

@@ -0,0 +1,518 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
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+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.39 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.31 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.31 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.41 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.78 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.52 ms  (cached)
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+}

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo-proj-c0015/native/logs/attempt-001-select-1.log

@@ -0,0 +1,512 @@
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