sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 37/45

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a00/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 0,
+  "global_ask_index": 2563,
+  "normalized": [
+    0.41419581639645087,
+    0.9999003226265433,
+    0.9975790287294066,
+    0.5071032355756487,
+    0.8642950321955366,
+    0.7254887647616169,
+    0.3495378833261544,
+    0.6355226261683278,
+    0.1499167209263444,
+    0.8500767478518764,
+    0.9999871968586371,
+    0.9999894643102291
+  ],
+  "settings": {
+    "spring_y": 41419.58163964509,
+    "object_radius_m": 0.04999601290506173,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549722649029542,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7254887647616169,
+    "ground_friction": 0.6990757666523087,
+    "object_restitution": 0.6355226261683278,
+    "object_friction": 0.2998334418526888,
+    "collision_distance_m": 0.04400306991407506,
+    "drag_damping": 19.99974393717274,
+    "dashpot_damping": 199.9978928620458
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.061922881985083,
+    "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": 0.05359631706960499,
+        "workspace_s": 0.29794948315247893,
+        "objective_s": 0.005739695858210325,
+        "stage_capture_s": 0.12765166419558227,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00791229004971683,
+            "complete_s": 0.018783848034217954
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010142102837562561,
+            "complete_s": 0.00021692505106329918
+          }
+        },
+        "total_s": 0.4505054021719843
+      }
+    }
+  },
+  "wall_time_s": 9.002518404042348,
+  "outcome": "finite",
+  "score": 0.0008532383621348089,
+  "tell_score": 0.0008532383621348089,
+  "observation_score": 0.000492379913991412,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a00/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81cc022e54a6753db5f573b6312af3d2a2a5657e77db7df77fcbf4837422971
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a01/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28f49228254124fb34bb375eb83a887bc57c6e21b83bc0a9cf9961b0d0d09c8
+size 88562

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a01/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7931e6bef7248c57e4040d0210c76e0b9adde79a668bbe1133f396fffabb1d
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a01/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 1,
+  "global_ask_index": 2564,
+  "normalized": [
+    0.41427967897250395,
+    0.9998957095424006,
+    0.9980046355814723,
+    0.5071033732616562,
+    0.8643904436395977,
+    0.7213009706579923,
+    0.3467911514333674,
+    0.6355021065886454,
+    0.1512218757805617,
+    0.8486321232648674,
+    0.9999956294225446,
+    0.9997289418021781
+  ],
+  "settings": {
+    "spring_y": 41427.9678972504,
+    "object_radius_m": 0.04999582838169603,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549723612831594,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7213009706579923,
+    "ground_friction": 0.6935823028667348,
+    "object_restitution": 0.6355021065886454,
+    "object_friction": 0.3024437515611234,
+    "collision_distance_m": 0.0439452849305947,
+    "drag_damping": 19.999912588450893,
+    "dashpot_damping": 199.9457883604356
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.061922881985083,
+    "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": 0.05199460592120886,
+        "workspace_s": 0.20914054499007761,
+        "objective_s": 0.005669003119692206,
+        "stage_capture_s": 0.12707719090394676,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007858626078814268,
+            "complete_s": 0.018776440992951393
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.663100354373455e-05,
+            "complete_s": 0.00020622508600354195
+          }
+        },
+        "total_s": 0.3610277830157429
+      }
+    }
+  },
+  "wall_time_s": 8.500854219077155,
+  "outcome": "finite",
+  "score": 0.0008532419533607723,
+  "tell_score": 0.0008532419533607723,
+  "observation_score": 0.0004923617019138561,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a01/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5b924d9d5b9d1d7f66ce52540a6f08a5be38301943e376e3e7a78af04862c6
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a02/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfbef6fab8915447441de019108c9329f0a10311dcfacd84effbed2ad5980ef2
+size 88562

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a02/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756e1cb8bfd4e2bbfc5a9d7079797045d20b7c3f2c08022c191601494f4ac136
+size 396740

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a02/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 2,
+  "global_ask_index": 2565,
+  "normalized": [
+    0.4149894612306927,
+    0.999797572120964,
+    0.9972642572507754,
+    0.5070912530199184,
+    0.8649134891268185,
+    0.7249495072317557,
+    0.34088143768154633,
+    0.6329585520786793,
+    0.14624597248549456,
+    0.8473322222175209,
+    0.9999939235373865,
+    0.9999771353502614
+  ],
+  "settings": {
+    "spring_y": 41498.94612306927,
+    "object_radius_m": 0.04999190288483856,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.0454963877113943,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7249495072317557,
+    "ground_friction": 0.6817628753630927,
+    "object_restitution": 0.6329585520786793,
+    "object_friction": 0.2924919449709891,
+    "collision_distance_m": 0.04389328888870084,
+    "drag_damping": 19.99987847074773,
+    "dashpot_damping": 199.9954270700523
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.076356539037079,
+    "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": 0.13557909708470106,
+        "workspace_s": 0.211196772987023,
+        "objective_s": 0.006688345223665237,
+        "stage_capture_s": 0.1305148999672383,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007408092031255364,
+            "complete_s": 0.018265360966324806
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.913300164043903e-05,
+            "complete_s": 0.00022823596373200417
+          }
+        },
+        "total_s": 0.3670710250735283
+      }
+    }
+  },
+  "wall_time_s": 9.122919101966545,
+  "outcome": "finite",
+  "score": 0.0008532319254166723,
+  "tell_score": 0.0008532319254166723,
+  "observation_score": 0.0004922081274614677,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a02/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48aff8e0484a235dad6ca209169bf0cebdc6090f610fd62153476122ccdd2fa
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a03/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557e37654d3a8db08702c3e2d08b8fc061354e059d6b13a2ceea7c40bd3105a2
+size 88578

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a03/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b3d793c3edbbc7dabe7b3c157c6b5b5dfd008455b3b087cbaf818ff366b57d6
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a03/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 3,
+  "global_ask_index": 2566,
+  "normalized": [
+    0.41480435429981793,
+    0.9999166023116189,
+    0.9978591372577925,
+    0.5070733402716453,
+    0.8623502492858516,
+    0.7268679278436495,
+    0.3453181910585529,
+    0.6358027319340399,
+    0.15133030939598532,
+    0.8473920101855853,
+    0.9999991565115213,
+    0.9999670179192943
+  ],
+  "settings": {
+    "spring_y": 41480.43542998179,
+    "object_radius_m": 0.04999666409246476,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045495133819015175,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7268679278436495,
+    "ground_friction": 0.6906363821171058,
+    "object_restitution": 0.6358027319340399,
+    "object_friction": 0.30266061879197065,
+    "collision_distance_m": 0.043895680407423414,
+    "drag_damping": 19.999983130230426,
+    "dashpot_damping": 199.99340358385888
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.076356539037079,
+    "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": 0.053260075161233544,
+        "workspace_s": 0.31593801616691053,
+        "objective_s": 0.005899830954149365,
+        "stage_capture_s": 0.12596845487132668,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007621854078024626,
+            "complete_s": 0.01851461618207395
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.508291259407997e-05,
+            "complete_s": 0.00022571207955479622
+          }
+        },
+        "total_s": 0.46674176305532455
+      }
+    }
+  },
+  "wall_time_s": 8.622891532024369,
+  "outcome": "finite",
+  "score": 0.0008532311314333547,
+  "tell_score": 0.0008532311314333547,
+  "observation_score": 0.0004922481683602598,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a03/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb4fc9c17416abe5c344578d3fb565a9a6be906f5386aad8f98d208857627ed
+size 2528906

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a04/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e96d73af5963c38eb06c928b91bddb0d7df470148ad1d932de07cff5091fac
+size 88558

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a04/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e61a2394cb137c56db233c98ea9a95c2a5dbe83f84deac26d0d9922b38c0c51
+size 396724

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a04/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 4,
+  "global_ask_index": 2567,
+  "normalized": [
+    0.4143664533258744,
+    0.9999370894047866,
+    0.9977528823449113,
+    0.507011573387741,
+    0.8645282788505517,
+    0.7280065421536517,
+    0.3406147651891896,
+    0.6333476147537432,
+    0.15212723440016906,
+    0.8466864999760125,
+    0.9999831498542717,
+    0.9999994333027954
+  ],
+  "settings": {
+    "spring_y": 41436.64533258744,
+    "object_radius_m": 0.04999748357619147,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549081013714188,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7280065421536517,
+    "ground_friction": 0.6812295303783792,
+    "object_restitution": 0.6333476147537432,
+    "object_friction": 0.30425446880033813,
+    "collision_distance_m": 0.0438674599990405,
+    "drag_damping": 19.999662997085434,
+    "dashpot_damping": 199.99988666055907
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1138,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04545925185084343
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 488
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.056685363175347,
+    "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": 0.05655478406697512,
+        "workspace_s": 0.21712924796156585,
+        "objective_s": 0.005723911104723811,
+        "stage_capture_s": 0.12787713296711445,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007884840946644545,
+            "complete_s": 0.018769284011796117
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010053906589746475,
+            "complete_s": 0.00023678620345890522
+          }
+        },
+        "total_s": 0.36990827787667513
+      }
+    }
+  },
+  "wall_time_s": 9.018593959044665,
+  "outcome": "finite",
+  "score": 0.0008539355683403399,
+  "tell_score": 0.0008539355683403399,
+  "observation_score": 0.0004929618105243003,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a04/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4454b4609840fb3ddbbc0174d0a1ee00eca14b4feeff3c570575d79c26c3b1
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a05/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e0d611f2cd8a12c21a563c440334d623b2e3ff9348cb22fafb504ae80af9cf
+size 88522

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a05/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add39a261d02b1d6bc9ee3ff69b6e435388efe5552573e700aaad390d08c1a40
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a05/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 5,
+  "global_ask_index": 2568,
+  "normalized": [
+    0.4150001352912748,
+    0.9998683266259869,
+    0.997701387728133,
+    0.5070592664221495,
+    0.8629058302294577,
+    0.7239393866402523,
+    0.34959185185498326,
+    0.6370605213910282,
+    0.14849305483849648,
+    0.8515999781625444,
+    0.999992414324738,
+    0.9999996249826557
+  ],
+  "settings": {
+    "spring_y": 41500.01352912748,
+    "object_radius_m": 0.04999473306503948,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549414864955047,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7239393866402523,
+    "ground_friction": 0.6991837037099665,
+    "object_restitution": 0.6370605213910282,
+    "object_friction": 0.29698610967699296,
+    "collision_distance_m": 0.04406399912650178,
+    "drag_damping": 19.99984828649476,
+    "dashpot_damping": 199.99992499653115
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.056685363175347,
+    "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": 0.05385966598987579,
+        "workspace_s": 0.301798831904307,
+        "objective_s": 0.006027027033269405,
+        "stage_capture_s": 0.1311237090267241,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007971250917762518,
+            "complete_s": 0.01886619091965258
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.743194095790386e-05,
+            "complete_s": 0.00021041999571025372
+          }
+        },
+        "total_s": 0.4581911019049585
+      }
+    }
+  },
+  "wall_time_s": 8.595080187078565,
+  "outcome": "finite",
+  "score": 0.0008532302663205125,
+  "tell_score": 0.0008532302663205125,
+  "observation_score": 0.0004922063429254276,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc11e5e346b5d88472fc0b7f363a0267cafe20de6d2580140fdffea56837576
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a06/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:692ff7cf9cf6e4557e6cd7342e4e8e441565c5f55a33d314d0ecc285a20960fe
+size 88582

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a06/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:221a043b7b84fb04363fcb151807d503cb61876113afdfe42600c173c4ee7ad2
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a06/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 6,
+  "global_ask_index": 2569,
+  "normalized": [
+    0.4144935307762192,
+    0.9998587075226836,
+    0.9970503636850254,
+    0.507078313197854,
+    0.8627329139689228,
+    0.7264570501405484,
+    0.33947326460700894,
+    0.6314051408489617,
+    0.14710230664206725,
+    0.8478316523569719,
+    0.9999688593843982,
+    0.9999663009706034
+  ],
+  "settings": {
+    "spring_y": 41449.35307762192,
+    "object_radius_m": 0.04999434830090735,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045495481923849786,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7264570501405484,
+    "ground_friction": 0.6789465292140179,
+    "object_restitution": 0.6314051408489617,
+    "object_friction": 0.2942046132841345,
+    "collision_distance_m": 0.043913266094278876,
+    "drag_damping": 19.999377187687962,
+    "dashpot_damping": 199.99326019412067
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.055143953999504,
+    "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": 0.057875735918059945,
+        "workspace_s": 0.21836509089916945,
+        "objective_s": 0.005706234136596322,
+        "stage_capture_s": 0.1275836150161922,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007866195170208812,
+            "complete_s": 0.018736529164016247
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.849783964455128e-05,
+            "complete_s": 0.00023778900504112244
+          }
+        },
+        "total_s": 0.37082983809523284
+      }
+    }
+  },
+  "wall_time_s": 9.01129038981162,
+  "outcome": "finite",
+  "score": 0.0008532322242940433,
+  "tell_score": 0.0008532322242940433,
+  "observation_score": 0.0004923149644815204,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a06/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8058a2a19735c227d764e7fb52d80cefff4cd3165deac8f15d48b035c072ab7
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a07/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b72fcaa8517a972faee7465a1f96df3b6b890dd8fa0f708b3f42c59f52283a8
+size 88574

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a07/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6d1163c3e8565c11642d9c26dd753d289212c4386c551aafdeeeb133c92473
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 7,
+  "global_ask_index": 2570,
+  "normalized": [
+    0.41451394539949593,
+    0.999947101827397,
+    0.9979286746810739,
+    0.5070667468351723,
+    0.8643444557148319,
+    0.7245599643118166,
+    0.3441727378487606,
+    0.633674614058437,
+    0.14881064311055037,
+    0.8465584958764368,
+    0.9999942221338121,
+    0.9999798503497552
+  ],
+  "settings": {
+    "spring_y": 41451.39453994959,
+    "object_radius_m": 0.04999788407309588,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045494672278462066,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7245599643118166,
+    "ground_friction": 0.6883454756975212,
+    "object_restitution": 0.633674614058437,
+    "object_friction": 0.29762128622110073,
+    "collision_distance_m": 0.043862339835057475,
+    "drag_damping": 19.99988444267624,
+    "dashpot_damping": 199.99597006995106
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.055143953999504,
+    "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": 0.053058580961078405,
+        "workspace_s": 0.2934216558933258,
+        "objective_s": 0.005716507090255618,
+        "stage_capture_s": 0.13149762200191617,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008133702911436558,
+            "complete_s": 0.019025169778615236
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011183507740497589,
+            "complete_s": 0.00024283397942781448
+          }
+        },
+        "total_s": 0.45008594798855484
+      }
+    }
+  },
+  "wall_time_s": 8.580444658873603,
+  "outcome": "finite",
+  "score": 0.0008530964997662003,
+  "tell_score": 0.0008530964997662003,
+  "observation_score": 0.0004923117951870054,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": true
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a07/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37271fde19d6c7dd3c20a537b59e7e753bbb06d9631bd1201cd49ba36b2467e
+size 11136934

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a08/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6c7c440e297d0c947ee88932ab9c311f56b5c783975feda057e6ce4a8e960c2
+size 88574

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a08/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c9a331581104aa61f73fe34769e81c87b714a26ce282bc0025ab2d8927e10d5
+size 396752

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a08/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 8,
+  "global_ask_index": 2571,
+  "normalized": [
+    0.4147624474105609,
+    0.9997727339471529,
+    0.9975412283042431,
+    0.5070301369053386,
+    0.863888683078616,
+    0.7242220265788976,
+    0.34061861697247625,
+    0.632205573013346,
+    0.1442267910922009,
+    0.8447315400218592,
+    0.9999912041317731,
+    0.9999923169623641
+  ],
+  "settings": {
+    "spring_y": 41476.24474105609,
+    "object_radius_m": 0.049990909357886124,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045492109583373706,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7242220265788976,
+    "ground_friction": 0.6812372339449525,
+    "object_restitution": 0.632205573013346,
+    "object_friction": 0.2884535821844018,
+    "collision_distance_m": 0.043789261600874374,
+    "drag_damping": 19.999824082635463,
+    "dashpot_damping": 199.99846339247281
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.060335817979649,
+    "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": 0.05724438698962331,
+        "workspace_s": 0.21918878215365112,
+        "objective_s": 0.005873329006135464,
+        "stage_capture_s": 0.1291122119873762,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008296218002215028,
+            "complete_s": 0.019168979953974485
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011698901653289795,
+            "complete_s": 0.0002558720298111439
+          }
+        },
+        "total_s": 0.3737963989842683
+      }
+    }
+  },
+  "wall_time_s": 9.03383813612163,
+  "outcome": "finite",
+  "score": 0.0008532315890481145,
+  "tell_score": 0.0008532315890481145,
+  "observation_score": 0.0004922570005133217,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a08/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdceb2e586a0e0891e6eb70c3628c6e6d43cb1ca481a7bfb9653fcebc83cf62d
+size 2528886

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a09/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a551c0bf3d9f27f59bf9aa62ce4db20543fb5c23d80d7b1727365920e9354274
+size 88546

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a09/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6086e681ebac8d999f9016619c568d5262982ad7faeff334d4c624ed6952408f
+size 396736

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a09/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 9,
+  "global_ask_index": 2572,
+  "normalized": [
+    0.4147319070184624,
+    0.9997502243872,
+    0.9980236125480262,
+    0.507083050410954,
+    0.863245475836405,
+    0.7261429541306569,
+    0.3431633160138727,
+    0.6330255208440985,
+    0.15346746372632097,
+    0.8513207199183844,
+    0.9999969644912319,
+    0.9999679699869848
+  ],
+  "settings": {
+    "spring_y": 41473.190701846244,
+    "object_radius_m": 0.049990008975488,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549581352876679,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7261429541306569,
+    "ground_friction": 0.6863266320277454,
+    "object_restitution": 0.6330255208440985,
+    "object_friction": 0.30693492745264195,
+    "collision_distance_m": 0.04405282879673538,
+    "drag_damping": 19.99993928982464,
+    "dashpot_damping": 199.99359399739694
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.060335817979649,
+    "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": 0.05391155695542693,
+        "workspace_s": 0.30777828278951347,
+        "objective_s": 0.005916583118960261,
+        "stage_capture_s": 0.1314193638972938,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008150378940626979,
+            "complete_s": 0.019044084940105677
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010561896488070488,
+            "complete_s": 0.00022391998209059238
+          }
+        },
+        "total_s": 0.46455027582123876
+      }
+    }
+  },
+  "wall_time_s": 8.605535987997428,
+  "outcome": "finite",
+  "score": 0.000853231675248207,
+  "tell_score": 0.000853231675248207,
+  "observation_score": 0.0004922636995956732,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a09/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b358eec4fcc671be18ef91ed9e89a71552f8fb8a89e49b331a737f585865d7
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a10/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e673dc6a297f5e27eb3b249ee1997e054f681760749378196162406e2a17ea
+size 88566

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a10/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724493adc2611b8b6c3b10a12e5de4e89d91d3a5167d2558e8f8b14dfe31cc42
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a10/record.json

@@ -0,0 +1,148 @@
+{
+  "stage": "cma_ask",
+  "generation": 233,
+  "ask_index": 10,
+  "global_ask_index": 2573,
+  "normalized": [
+    0.4136921928978349,
+    0.9997810448230878,
+    0.9972619333753887,
+    0.5070454585228243,
+    0.8635814151439664,
+    0.7317333428349578,
+    0.3373744996151619,
+    0.6302309823512493,
+    0.15068786571523374,
+    0.845099630395653,
+    0.9999992075222194,
+    0.9999834103899788
+  ],
+  "settings": {
+    "spring_y": 41369.21928978349,
+    "object_radius_m": 0.04999124179292352,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549318209659771,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7317333428349578,
+    "ground_friction": 0.6747489992303238,
+    "object_restitution": 0.6302309823512493,
+    "object_friction": 0.3013757314304675,
+    "collision_distance_m": 0.04380398521582612,
+    "drag_damping": 19.999984150444387,
+    "dashpot_damping": 199.99668207799576
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 5.6478892639279366,
+    "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": 0.05611397395841777,
+        "workspace_s": 0.21663141902536154,
+        "objective_s": 0.005643787095323205,
+        "stage_capture_s": 0.1292629900854081,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007780489977449179,
+            "complete_s": 0.018651416990906
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011313590221107006,
+            "complete_s": 0.00025361008010804653
+          }
+        },
+        "total_s": 0.3706227890215814
+      }
+    }
+  },
+  "wall_time_s": 6.087469876976684,
+  "outcome": "finite",
+  "score": 0.000853249234089992,
+  "tell_score": 0.000853249234089992,
+  "observation_score": 0.0004924883155646315,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/a10/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74abbb0518463ae152eff0ca4c900c8366c0b59020e02f163df953c83d8da46
+size 2528878

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/issued.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863eaee7d1209a4343e49c0a0b66ac342f986f74767006b3fed601024ca98ae3
+size 1184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/lifecycle.jsonl

@@ -0,0 +1,48 @@
+{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791685127.6476839, "t_invocation_s": 0.000118822, "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": 1791685127.648366, "t_invocation_s": 0.000801105, "wave": 0, "members": [0, 1], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685128.158179, "t_invocation_s": 0.510614524, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05359631706960499, "workspace_s": 0.29794948315247893, "objective_s": 0.005739695858210325, "stage_capture_s": 0.12765166419558227, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00791229004971683, "complete_s": 0.018783848034217954}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010142102837562561, "complete_s": 0.00021692505106329918}}, "total_s": 0.4505054021719843}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685128.581769, "t_invocation_s": 0.934204252, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05199460592120886, "workspace_s": 0.20914054499007761, "objective_s": 0.005669003119692206, "stage_capture_s": 0.12707719090394676, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007858626078814268, "complete_s": 0.018776440992951393}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.663100354373455e-05, "complete_s": 0.00020622508600354195}}, "total_s": 0.3610277830157429}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685128.5869088, "t_invocation_s": 0.939343761, "wave": 0, "members": [0, 1]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685136.657176, "t_invocation_s": 9.009611417, "wave": 0, "index": 0, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685136.6699574, "t_invocation_s": 9.022392445, "wave": 0, "index": 1, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685136.6983159, "t_invocation_s": 9.050751174, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685136.7261693, "t_invocation_s": 9.078604866, "wave": 0, "commit_order": [0, 1]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685136.7274544, "t_invocation_s": 9.079889541, "wave": 1, "members": [2, 3], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685137.2361248, "t_invocation_s": 9.588559913, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.13557909708470106, "workspace_s": 0.211196772987023, "objective_s": 0.006688345223665237, "stage_capture_s": 0.1305148999672383, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007408092031255364, "complete_s": 0.018265360966324806}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.913300164043903e-05, "complete_s": 0.00022823596373200417}}, "total_s": 0.3670710250735283}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685137.766711, "t_invocation_s": 10.119146129, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.053260075161233544, "workspace_s": 0.31593801616691053, "objective_s": 0.005899830954149365, "stage_capture_s": 0.12596845487132668, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007621854078024626, "complete_s": 0.01851461618207395}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.508291259407997e-05, "complete_s": 0.00022571207955479622}}, "total_s": 0.46674176305532455}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685137.7718916, "t_invocation_s": 10.124326727, "wave": 1, "members": [2, 3]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685145.8570144, "t_invocation_s": 18.209449903, "wave": 1, "index": 2, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685145.8699937, "t_invocation_s": 18.222428825, "wave": 1, "index": 3, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685145.902109, "t_invocation_s": 18.254544422, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685145.933668, "t_invocation_s": 18.286103151, "wave": 1, "commit_order": [2, 3]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685145.934604, "t_invocation_s": 18.287038955, "wave": 2, "members": [4, 5], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685146.3670692, "t_invocation_s": 18.719504609, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05655478406697512, "workspace_s": 0.21712924796156585, "objective_s": 0.005723911104723811, "stage_capture_s": 0.12787713296711445, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007884840946644545, "complete_s": 0.018769284011796117}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010053906589746475, "complete_s": 0.00023678620345890522}}, "total_s": 0.36990827787667513}, "object_springs": 18544, "controller_springs": 1138}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685146.8894475, "t_invocation_s": 19.241882577, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05385966598987579, "workspace_s": 0.301798831904307, "objective_s": 0.006027027033269405, "stage_capture_s": 0.1311237090267241, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007971250917762518, "complete_s": 0.01886619091965258}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.743194095790386e-05, "complete_s": 0.00021041999571025372}}, "total_s": 0.4581911019049585}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685146.8945887, "t_invocation_s": 19.247023726, "wave": 2, "members": [4, 5]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685154.9600408, "t_invocation_s": 27.312475979, "wave": 2, "index": 4, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685154.9729803, "t_invocation_s": 27.325415414, "wave": 2, "index": 5, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685155.0011687, "t_invocation_s": 27.353604021, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685155.0284832, "t_invocation_s": 27.380918404, "wave": 2, "commit_order": [4, 5]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685155.029404, "t_invocation_s": 27.381838744, "wave": 3, "members": [6, 7], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685155.4643579, "t_invocation_s": 27.816793007, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.057875735918059945, "workspace_s": 0.21836509089916945, "objective_s": 0.005706234136596322, "stage_capture_s": 0.1275836150161922, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007866195170208812, "complete_s": 0.018736529164016247}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.849783964455128e-05, "complete_s": 0.00023778900504112244}}, "total_s": 0.37082983809523284}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685155.9782653, "t_invocation_s": 28.330700511, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.053058580961078405, "workspace_s": 0.2934216558933258, "objective_s": 0.005716507090255618, "stage_capture_s": 0.13149762200191617, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008133702911436558, "complete_s": 0.019025169778615236}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011183507740497589, "complete_s": 0.00024283397942781448}}, "total_s": 0.45008594798855484}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685155.983521, "t_invocation_s": 28.335955876, "wave": 3, "members": [6, 7]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685164.0473382, "t_invocation_s": 36.399773279, "wave": 3, "index": 6, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685164.0640838, "t_invocation_s": 36.416518886, "wave": 3, "index": 7, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685164.0940826, "t_invocation_s": 36.446518008, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685164.1247928, "t_invocation_s": 36.477228312, "wave": 3, "commit_order": [6, 7]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685164.1257806, "t_invocation_s": 36.47821544, "wave": 4, "members": [8, 9], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685164.5629134, "t_invocation_s": 36.915348662, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05724438698962331, "workspace_s": 0.21918878215365112, "objective_s": 0.005873329006135464, "stage_capture_s": 0.1291122119873762, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008296218002215028, "complete_s": 0.019168979953974485}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011698901653289795, "complete_s": 0.0002558720298111439}}, "total_s": 0.3737963989842683}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685165.0920322, "t_invocation_s": 37.444467367, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05391155695542693, "workspace_s": 0.30777828278951347, "objective_s": 0.005916583118960261, "stage_capture_s": 0.1314193638972938, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008150378940626979, "complete_s": 0.019044084940105677}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010561896488070488, "complete_s": 0.00022391998209059238}}, "total_s": 0.46455027582123876}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685165.0973296, "t_invocation_s": 37.44976473, "wave": 4, "members": [8, 9]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685173.171057, "t_invocation_s": 45.523492121, "wave": 4, "index": 8, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685173.1791666, "t_invocation_s": 45.531601355, "wave": 4, "index": 9, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685173.2067575, "t_invocation_s": 45.559193149, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685173.2343872, "t_invocation_s": 45.586822465, "wave": 4, "commit_order": [8, 9]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685173.2351856, "t_invocation_s": 45.58762076, "wave": 5, "members": [10], "occupancy": 1}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685173.6677454, "t_invocation_s": 46.020180494, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05611397395841777, "workspace_s": 0.21663141902536154, "objective_s": 0.005643787095323205, "stage_capture_s": 0.1292629900854081, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007780489977449179, "complete_s": 0.018651416990906}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011313590221107006, "complete_s": 0.00025361008010804653}}, "total_s": 0.3706227890215814}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685173.6729708, "t_invocation_s": 46.025405678, "wave": 5, "members": [10]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685179.3293195, "t_invocation_s": 51.681754856, "wave": 5, "index": 10, "arrival": 0}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685179.3300438, "t_invocation_s": 51.682478776, "wave": 5, "drained": {"10": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685179.3571472, "t_invocation_s": 51.709582524, "wave": 5, "commit_order": [10]}
+{"invocation": 1, "kind": "told", "t_unix_s": 1791685179.3593173, "t_invocation_s": 51.711752153, "generation": 233, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 2570}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/strategy_after_ask.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd21c83946674009bf0cea66cf7b66a6c7d68a33fd1998f6e4fda66661431934
+size 31878

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/strategy_after_tell.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e87c4cd39c413362463440b270a58f123e583678acd60901b23905e77076a26
+size 28473

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g233/told.json

@@ -0,0 +1,60 @@
+{
+  "generation": 233,
+  "told_scores": [
+    0.0008532383621348089,
+    0.0008532419533607723,
+    0.0008532319254166723,
+    0.0008532311314333547,
+    0.0008539355683403399,
+    0.0008532302663205125,
+    0.0008532322242940433,
+    0.0008530964997662003,
+    0.0008532315890481145,
+    0.000853231675248207,
+    0.000853249234089992
+  ],
+  "physical_failures": 0,
+  "physical_failures_total": 0,
+  "issued_asks_total": 2574,
+  "told_asks_total": 2574,
+  "champion": {
+    "generation": 233,
+    "ask_index": 7,
+    "global_ask_index": 2570,
+    "score": 0.0008530964997662003,
+    "observation_score": 0.0004923117951870054,
+    "normalized": [
+      0.41451394539949593,
+      0.999947101827397,
+      0.9979286746810739,
+      0.5070667468351723,
+      0.8643444557148319,
+      0.7245599643118166,
+      0.3441727378487606,
+      0.633674614058437,
+      0.14881064311055037,
+      0.8465584958764368,
+      0.9999942221338121,
+      0.9999798503497552
+    ],
+    "settings": {
+      "spring_y": 41451.39453994959,
+      "object_radius_m": 0.04999788407309588,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.045494672278462066,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7245599643118166,
+      "ground_friction": 0.6883454756975212,
+      "object_restitution": 0.633674614058437,
+      "object_friction": 0.29762128622110073,
+      "collision_distance_m": 0.043862339835057475,
+      "drag_damping": 19.99988444267624,
+      "dashpot_damping": 199.99597006995106
+    }
+  },
+  "pycma": {
+    "countiter": 234,
+    "countevals": 2574,
+    "sigma": 0.0024559675083835274
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g234/a00/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7214870c4639fdb9813bb26f096a99fba8c421ee0d7e97453925ee1aa77253db
+size 88566

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g234/a00/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77eac6398099e8f9984567e136d4cba956ee5016a9fc9b2441b08678049912be
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g234/a00/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 234,
+  "ask_index": 0,
+  "global_ask_index": 2574,
+  "normalized": [
+    0.4135934273519059,
+    0.9999697250488969,
+    0.9975454962098816,
+    0.507102498966671,
+    0.8629660479634946,
+    0.7290455915065858,
+    0.34200290013708395,
+    0.6341056364714585,
+    0.145951659229122,
+    0.8435054984072153,
+    0.9999993947275567,
+    0.9999997958442642
+  ],
+  "settings": {
+    "spring_y": 41359.34273519059,
+    "object_radius_m": 0.04999878900195588,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549717492766698,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7290455915065858,
+    "ground_friction": 0.6840058002741679,
+    "object_restitution": 0.6341056364714585,
+    "object_friction": 0.291903318458244,
+    "collision_distance_m": 0.04374021993628861,
+    "drag_damping": 19.999987894551133,
+    "dashpot_damping": 199.99995916885285
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.055735195055604,
+    "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": 0.1293519688770175,
+        "workspace_s": 0.2174312670249492,
+        "objective_s": 0.005932001164183021,
+        "stage_capture_s": 0.13115092692896724,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008158868877217174,
+            "complete_s": 0.019029543036594987
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010071182623505592,
+            "complete_s": 0.00022260285913944244
+          }
+        },
+        "total_s": 0.37398455617949367
+      }
+    }
+  },
+  "wall_time_s": 9.096419933019206,
+  "outcome": "finite",
+  "score": 0.000853359716720457,
+  "tell_score": 0.000853359716720457,
+  "observation_score": 0.0004925039246275997,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}