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+  "gradient_rollout": "p0_handoff/adam_zero_update.npz"
+}

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/campaign.log

@@ -0,0 +1,13 @@
+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 0.34 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.27 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.28 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.21 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.23 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.29 ms  (cached)

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/campaign_complete.json

@@ -0,0 +1,6 @@
+{
+  "status": "selected",
+  "best_candidate": "c0099",
+  "completed_candidates": 102,
+  "completed_unix_s": 1790586586.4361556
+}

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/collector.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 fea282e42ecd414e
+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-20260927_224917-fea282e42ecd414e
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run real-rgbd-photometric-p0-adam-prelim-20260927
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/fea282e42ecd414e
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+wandb: uploading summary; updating run metadata
+wandb: updating run metadata
+wandb: 
+wandb: Run history:
+wandb:                           adam/update/gradient_l2 ▂▃▅▃▅▃▃▂▃▂▃▅▄▄▂▄▁█▄█▅▃▄▃▅▃▅▄▆▆▂▃▄▄▅▆▄█▇█
+wandb:           adam/update/ground_friction/gradient_l2 ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:    adam/update/ground_friction/host_clamp_changed ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:        adam/update/ground_friction/host_effective ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:                   adam/update/ground_friction/raw ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:        adam/update/ground_restitution/gradient_l2 ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb: adam/update/ground_restitution/host_clamp_changed ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:     adam/update/ground_restitution/host_effective ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:                adam/update/ground_restitution/raw ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:                              adam/update/interval █▂▄█▅▆▇▇▂▂▃▄▅▃▅█▅▆▃▅▄▃▄▄▄▃▂▂▃█▆▂▁▆▇▁▄▇▁▃
+wandb:                                               +51 ...
+wandb: 
+wandb: Run summary:
+wandb:                           adam/update/gradient_l2 4e-05
+wandb:           adam/update/ground_friction/gradient_l2 0
+wandb:    adam/update/ground_friction/host_clamp_changed 1
+wandb:        adam/update/ground_friction/host_effective 0
+wandb:                   adam/update/ground_friction/raw -0.01598
+wandb:        adam/update/ground_restitution/gradient_l2 0
+wandb: adam/update/ground_restitution/host_clamp_changed 1
+wandb:     adam/update/ground_restitution/host_effective 1
+wandb:                adam/update/ground_restitution/raw 1.00227
+wandb:                              adam/update/interval 490
+wandb:                                               +51 ...
+wandb: 
+wandb: 🚀 View run real-rgbd-photometric-p0-adam-prelim-20260927 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/fea282e42ecd414e
+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-20260927_224917-fea282e42ecd414e/logs

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/evaluator.log

@@ -0,0 +1,13 @@
+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 0.33 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.30 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 0.24 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.25 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.27 ms  (cached)

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/launch.json

@@ -0,0 +1,13 @@
+{
+  "run_name": "real-rgbd-photometric-p0-adam-prelim-20260927",
+  "source_commit": "4c29ed1e5da3c18fe298346e00acc92bbab8fc1d",
+  "launched_unix_s": 1790563777.335639,
+  "initialization": "P0",
+  "complete_traversals": 100,
+  "stages": [
+    "collector",
+    "evaluator",
+    "monitor",
+    "campaign"
+  ]
+}

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/launch_campaign.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927
+exec /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/.venv/bin/python -u /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/scripts/real_rgbd_p0_adam_prelim.py campaign --root /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rp7_p0_adam_prelim_20260927

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/launch_collector.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -euo pipefail
+export WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+export WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+export WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+export WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+cd /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927
+exec /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/.venv/bin/python -u /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/scripts/real_rgbd_p0_adam_prelim.py collector --root /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rp7_p0_adam_prelim_20260927

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/launch_evaluator.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927
+exec /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/.venv/bin/python -u /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/scripts/real_rgbd_p0_adam_prelim.py evaluator --root /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rp7_p0_adam_prelim_20260927

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/launch_monitor.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927
+exec /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/.venv/bin/python -u /mnt/data0/magna/belt_perception_wt_rp7_p0_adam_prelim_20260927/scripts/real_rgbd_p0_adam_prelim.py monitor --root /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rp7_p0_adam_prelim_20260927

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/status.json

@@ -0,0 +1,165 @@
+{
+  "checked_unix_s": 1790586610.104806,
+  "initialization": "P0",
+  "planned_traversals": 100,
+  "adam_committed_updates": 49100,
+  "adam_snapshots": 101,
+  "frozen_results": 102,
+  "frozen_expected": 102,
+  "p0_gate": {
+    "initialization": "exact_RP4_P0",
+    "score": 0.007149584594957749,
+    "differences": {
+      "score_vs_original_p0": 2.4128543928483848e-09,
+      "score_vs_value_witness": 2.1035064835805972e-10,
+      "component": 1.115349873348926e-06,
+      "position_m": 1.6133533790707588e-05
+    },
+    "criteria": {
+      "score": 4.603031926973811e-09,
+      "component": 3.145970749082218e-06,
+      "position_m": 5.1838835133821703e-05
+    },
+    "passed": true,
+    "value_witness": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rp7_full_20260927/cma/repeatability/centre_0.npz",
+    "original_p0_score": 0.007149587007812142,
+    "gradient_rollout": "p0_handoff/adam_zero_update.npz"
+  },
+  "best": {
+    "status": "final",
+    "expected_candidates": 102,
+    "completed_candidates": 102,
+    "missing": [],
+    "best_candidate": "c0099",
+    "scores": {
+      "p0000": 0.007149587007812142,
+      "c0000": 0.007149587007812142,
+      "c0001": 0.0071771659883752914,
+      "c0002": 0.007086219351819797,
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+      "c0036": 0.0059062090197339115,
+      "c0037": 0.005896907768854468,
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+      "c0039": 0.0058793385805841186,
+      "c0040": 0.005862703310517818,
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+      "c0091": 0.005629397218884395,
+      "c0092": 0.005629467559313802,
+      "c0093": 0.005624085150984665,
+      "c0094": 0.005621340277062371,
+      "c0095": 0.005618878262932457,
+      "c0096": 0.005619385887308237,
+      "c0097": 0.005617232561923943,
+      "c0098": 0.005611480247564629,
+      "c0099": 0.005609097399751467,
+      "c0100": 0.005609416072990223
+    },
+    "tie_rule": "earliest roster entry on exact equality; P0 is eligible"
+  },
+  "process_alive": {
+    "collector": false,
+    "evaluator": false,
+    "monitor": true,
+    "campaign": false
+  },
+  "delivery": {
+    "run_id": "fea282e42ecd414e",
+    "submitted_records": 49206,
+    "next_step": 49206,
+    "finalization": "finish_returned",
+    "inflight": null,
+    "acknowledgement": "finish_returned_not_independently_verified",
+    "uncertain_records": [],
+    "init_returned": true,
+    "target": {
+      "entity": "serialexperimentsleon",
+      "project": "belt_perception",
+      "run_name": "real-rgbd-photometric-p0-adam-prelim-20260927"
+    },
+    "delivery": "submitted",
+    "guide_uploaded": true,
+    "stage_guide_uploaded": true
+  },
+  "errors": {}
+}

sessions/session_20260921_225630_786148/runs/lab-a-rp7-p0-photo100/native/telemetry_readiness.json

@@ -0,0 +1,5 @@
+{
+  "run_id": "fea282e42ecd414e",
+  "last_history_step": 0,
+  "checked_unix_s": 1790563777.330359
+}