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+# REAL_RGBD full fit: unattended run record
+
+**Current state:** scientific run complete. See the final `status.json` and the [R7 result report](/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923/docs/experiments/phystwin_real_rgbd_single_trajectory.md) for the result and audit focus. The tmux processes have exited; this README retains their fixed launch and preflight record.
+
+## Identity and selected protocol
+
+- Integrated code SHA: `0a0403f3a4d61e6b1316672a24b8a7e6371bec78` on isolated branch `cursor/real_rgbd_full_fit_20260923`; worktree `/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923`. R-TELEM PR #935 is in this main SHA; independent audit #936 accepted its offline integration for live preflight.
+- Input: `../fitting_run2/fitting_observations.npz`, SHA256 `13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca`. Loaded and checked F=492, K=491, N=1,147, C=30, four views, two physical hands (21/9 controls), D_V=1,043, D_M=994. Initial topology has 18,060 object springs and 250 controller attachments, zero unattached controls, one isolated object node. The clock is exact 30 Hz with 667 substeps and unchanged source mass units.
+- CMA: source pycma, seed 42, population 11, native stopping, cap 100 generations, CUDA:0. Adam: 500 complete traversals × 491 chronological source transitions = 245,500 updates; a continuation every 100 updates plus every traversal boundary. Candidate 0 is the exact winner's independent frozen handoff replay; candidates 1–500 are traversal snapshots. Frozen evaluator is a separate process on the same 4090. Training never waits for scoring.
+- Worktree environment: locked `minimal` profile, Python 3.11.14, Torch 2.11.0+cu128, Warp 1.16.0, pycma 4.4.4, W&B 0.28.2. At preflight the 4090 had about 19.5 GB free; data filesystem had 146 GB available. Smoke products were about 10 MB; full CMA products and telemetry are namespaced under this root.
+
+## Actual-path preflight
+
+`preflight/identity.json` records the full retained identity, GPU, fixed clock and topology. `preflight/tiny_observations.npz` is a separately tagged three-transition prefix of this recording, made by slicing the saved derived arrays; no tracking, masks, node selection or source filtering was rerun. The production R5/R6 path completed one 11-ask CMA generation, the exact saved-model handoff, two Adam traversals (six updates), independent scoring of three frozen candidates, and BEST selection. The handoff's qualified three-transition CUDA thresholds and raw preliminary failures are retained under `preflight/qualified_cma/`; no production candidate was drawn or changed by that smoke.
+
+The REAL_RGBD online collector initialized on the configured `serialexperimentsleon/belt_perception` project. `preflight/wandb_readback.json` verifies remote history for all 11 issued/results, all six source updates, all three candidate IDs and their originating source updates, plus run config and the uploaded metric guide. The preflight run was `ec45419db5b8489f`. A short one-shot collector attempt timed out during cold W&B initialization; keeping the existing collector alive through initialization recovered the same persisted run ID and delivered the local journal. This was an operational startup issue, not a fit change.
+
+`preflight/handoff_qualification.md` records the consequential real-session CUDA numerical decision and its alternatives. Two independent full-window replays of the exact saved CMA center model show aggregate score variation below 0.21% but pathwise divergence over 491 nonlinear intervals. The final winner handoff used the predeclared 0.5% aggregate objective criterion with exact model identity and completed stage semantics, retaining fixture pathwise diagnostics without presenting them as passed. No source algorithm, loss, optimizer, model, data, backend or fit stopping setting was changed.
+
+## Persistent launch
+
+CMA started at approximately **2026-09-23T10:42:13Z**. The exact task-owned launch files are `launch_cma.sh` → `run_cma.py`, `launch_collector.sh`, `launch_continuation.sh` → `continue_campaign.py`, and `launch_evaluator.sh`. They run under `tmux -L real_rgbd_fit_20260923` in the worktree and write `cma.log`, `collector.log`, `continuation.log`, and `evaluator.log`. `status_monitor.py` updates `status.json`; the pane PIDs and stage are recorded there.
+
+The full logical W&B run is [real-rgbd-session_20260921_225630_786148-full-fit-20260923](https://wandb.ai/serialexperimentsleon/belt_perception/runs/8492d7a9f68a4caf), ID `8492d7a9f68a4caf`. The collector's local `telemetry/scalars.jsonl` and delivery ledgers are authoritative for source records; SDK submission is not claimed as network acknowledgement. Remote readback of the first full-run asks, the guide and resolved config succeeded after launch.
+
+The CMA process calls the reviewed `run_source_cma(..., device="cuda:0", max_generations=100, verify_handoff=False)`; the separate exact-model handoff qualification then commits candidate 0 once and starts the reviewed `fit-adam --complete-traversals 500 --checkpoint-every-updates 100 --capture-telemetry` CLI. The evaluator runs the reviewed `evaluate-pending --follow` CLI independently; after training, the continuation process catches up any remaining candidates and calls `select-best --require-complete`. The R5 output includes every issued ask, tell, topology, score, pycma state and winner. No W&B process owns scientific state.
+
+A process or service failure should be diagnosed from the retained records before restart. Exact R5 and R6 resume commands are in the launch files; do not start duplicate runners. If concurrent evaluation materially harms Adam or causes CUDA memory pressure, stop only the evaluator window and let the persisted backlog catch up after training. A scientific nonfinite/terminal outcome is evidence, not a reason to change settings.
+
+## Checks and limitations
+
+The actual-path smoke and remote W&B readback passed. The locked minimal environment's strict doctor passed. `./scripts/agent_final_check.sh` passed after initializing the recorded `third_party/phystwin` submodule required by repository documentation links. No repository source files were changed.
+
+At 2026-09-23T10:54:39Z, `wandb_live_readback.json` independently read back 121 issued CMA asks, 119 completed results, the correct REAL_RGBD config and metric guide on the full W&B run; local committed records remain the source of truth as the run advances.
+
+## Completion and R7 audit
+
+CMA completed its 100-generation cap and 1,100 asks with no physical failure. The saved winner passed the declared real-session aggregate handoff. Adam completed 500 traversals and 245,500 source updates. All 501 frozen candidates were scored; BEST and FINAL are c0500. Native fresh replays of CMA/BEST/FINAL completed all 491 transitions. The exact scores, coverage, known limits, and audit entry points are in report commit `6cdffda9` on draft PR [#938](https://github.com/leonmkim/belt_perception/pull/938).
+
+`wandb_final_readback.json` confirms the remote history tail reached all 278,997 local rows and selected real-lane source values matched. The idle collector was stopped after completion. Publisher-only recovery confirmed the remote cursor, but its two-second shutdown timed out, so SDK `finish()` and service finalization remain unconfirmed. `status.json` records this separately from scientific completion. The independent R7-AUDIT has not yet been performed.

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