sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 128/173
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a06/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a06/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/record.json +148 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/issued.npy +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/lifecycle.jsonl +48 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/strategy_after_ask.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/strategy_after_tell.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/told.json +60 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/record.json +149 -0
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 157,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 1733,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41564342917901204,
|
| 8 |
+
0.9938508385574886,
|
| 9 |
+
0.9976094160264469,
|
| 10 |
+
0.5081366415636785,
|
| 11 |
+
0.85854284090211,
|
| 12 |
+
0.7350693454364543,
|
| 13 |
+
0.28413646911446044,
|
| 14 |
+
0.5836324824863128,
|
| 15 |
+
0.15921896982438427,
|
| 16 |
+
0.8423927283999478,
|
| 17 |
+
0.9999907395854023,
|
| 18 |
+
0.9978079834554419
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41564.3429179012,
|
| 22 |
+
"object_radius_m": 0.04975403354229955,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.0455695649094575,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7350693454364543,
|
| 27 |
+
"ground_friction": 0.5682729382289209,
|
| 28 |
+
"object_restitution": 0.5836324824863128,
|
| 29 |
+
"object_friction": 0.31843793964876854,
|
| 30 |
+
"collision_distance_m": 0.043695709135997914,
|
| 31 |
+
"drag_damping": 19.999814791708047,
|
| 32 |
+
"dashpot_damping": 199.56159669108837
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1149,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045564841479063034
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 653,
|
| 50 |
+
"hand_B": 496
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.05145635199733,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05690880608744919,
|
| 115 |
+
"workspace_s": 0.21201121993362904,
|
| 116 |
+
"objective_s": 0.005731303943321109,
|
| 117 |
+
"stage_capture_s": 0.12642089603468776,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007617189083248377,
|
| 123 |
+
"complete_s": 0.018498589051887393
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011988496407866478,
|
| 134 |
+
"complete_s": 0.00023197894915938377
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36305427202023566
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.002707869047299,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008616134502828717,
|
| 144 |
+
"tell_score": 0.0008616134502828717,
|
| 145 |
+
"observation_score": 0.0004981229299109889,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a06/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:463f2942ad3e245b4f43c2a8ccf1907bb3679a186692e778a34b022dd39c7960
|
| 3 |
+
size 2528902
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bdcb9cd5aa29e840772790805908424e17a9d220bf56e286c7c77a8ee09ff68e
|
| 3 |
+
size 88570
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17041d8ebb8ca36a726fa439814a4eb19d33ac4e46cbb701ced6abe05bc21d09
|
| 3 |
+
size 396640
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 157,
|
| 4 |
+
"ask_index": 7,
|
| 5 |
+
"global_ask_index": 1734,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41854874744015297,
|
| 8 |
+
0.9921051370840526,
|
| 9 |
+
0.9982377249759729,
|
| 10 |
+
0.5068754326892705,
|
| 11 |
+
0.8557009312543757,
|
| 12 |
+
0.7455898589333496,
|
| 13 |
+
0.31044040150066127,
|
| 14 |
+
0.591866561679438,
|
| 15 |
+
0.17179509369709212,
|
| 16 |
+
0.8620674567995271,
|
| 17 |
+
0.9999990221704232,
|
| 18 |
+
0.9986456144898459
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41854.874744015295,
|
| 22 |
+
"object_radius_m": 0.0496842054833621,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04548128028824894,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7455898589333496,
|
| 27 |
+
"ground_friction": 0.6208808030013225,
|
| 28 |
+
"object_restitution": 0.591866561679438,
|
| 29 |
+
"object_friction": 0.34359018739418423,
|
| 30 |
+
"collision_distance_m": 0.044482698271981085,
|
| 31 |
+
"drag_damping": 19.999980443408464,
|
| 32 |
+
"dashpot_damping": 199.72912289796918
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1134,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545925185084343
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 646,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.05145635199733,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05178381688892841,
|
| 115 |
+
"workspace_s": 0.3026920189149678,
|
| 116 |
+
"objective_s": 0.005713032092899084,
|
| 117 |
+
"stage_capture_s": 0.128500544000417,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008054811973124743,
|
| 123 |
+
"complete_s": 0.018954471917822957
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011324696242809296,
|
| 134 |
+
"complete_s": 0.00023987493477761745
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4562801718711853
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.584672290831804,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008553215337943526,
|
| 144 |
+
"tell_score": 0.0008553215337943526,
|
| 145 |
+
"observation_score": 0.0004943309012691864,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a07/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7dc18987b809ba0dcbbb3fed57af499fe9c83c5c45e34ee6d7ea508848f726c4
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a51445bc016c899652cc32c83364686bf09c65553f5c2daf4fbb7fe28a70b643
|
| 3 |
+
size 88594
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95dc7fb6cf1418abe18792bff401f854f0ece68cf1eee8f76ec15fece626e10e
|
| 3 |
+
size 396804
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 157,
|
| 4 |
+
"ask_index": 8,
|
| 5 |
+
"global_ask_index": 1735,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4162170770949855,
|
| 8 |
+
0.9926500914229991,
|
| 9 |
+
0.9984482066844654,
|
| 10 |
+
0.5074083687803139,
|
| 11 |
+
0.8601309151706917,
|
| 12 |
+
0.7299230692909751,
|
| 13 |
+
0.28604076694133157,
|
| 14 |
+
0.5872253238371923,
|
| 15 |
+
0.1628280892892367,
|
| 16 |
+
0.8506187389145706,
|
| 17 |
+
0.9999720590910266,
|
| 18 |
+
0.9985190926077788
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41621.70770949855,
|
| 22 |
+
"object_radius_m": 0.04970600365691997,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04551858581462198,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7299230692909751,
|
| 27 |
+
"ground_friction": 0.5720815338826631,
|
| 28 |
+
"object_restitution": 0.5872253238371923,
|
| 29 |
+
"object_friction": 0.3256561785784734,
|
| 30 |
+
"collision_distance_m": 0.04402474955658283,
|
| 31 |
+
"drag_damping": 19.999441181820533,
|
| 32 |
+
"dashpot_damping": 199.70381852155577
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1142,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04551497846841812
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 652,
|
| 50 |
+
"hand_B": 490
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.057152583962306,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05468637798912823,
|
| 115 |
+
"workspace_s": 0.21220044302754104,
|
| 116 |
+
"objective_s": 0.005646490957587957,
|
| 117 |
+
"stage_capture_s": 0.1265277280472219,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008053036173805594,
|
| 123 |
+
"complete_s": 0.01891591097228229
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.000101407989859581,
|
| 134 |
+
"complete_s": 0.00024171010591089725
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36372360517270863
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.005127045093104,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008533368251352123,
|
| 144 |
+
"tell_score": 0.0008533368251352123,
|
| 145 |
+
"observation_score": 0.0004915858074566757,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a08/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c8958c92421b4026400195bdd2fca93bc6502915aa43ac07701bd8c1527370a4
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2dc0951a2b9e7d6d3a2b4f74a2d7fb38db48ab9eb53465308d1837545e6c45d2
|
| 3 |
+
size 88582
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6ae84eb3d8d98a25da5404227f519aabdd61b6af1673d0bdc3f8c3183cc4654e
|
| 3 |
+
size 396740
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 157,
|
| 4 |
+
"ask_index": 9,
|
| 5 |
+
"global_ask_index": 1736,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41483451498829094,
|
| 8 |
+
0.9883711132293175,
|
| 9 |
+
0.9988497656872047,
|
| 10 |
+
0.5070870543086964,
|
| 11 |
+
0.8622971756363834,
|
| 12 |
+
0.7441023775331244,
|
| 13 |
+
0.30710299550934334,
|
| 14 |
+
0.5816149829922218,
|
| 15 |
+
0.17264401278283825,
|
| 16 |
+
0.8612415222937638,
|
| 17 |
+
0.9999066321251132,
|
| 18 |
+
0.9969570328417535
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41483.45149882909,
|
| 22 |
+
"object_radius_m": 0.0495348445291727,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549609380160875,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7441023775331244,
|
| 27 |
+
"ground_friction": 0.6142059910186867,
|
| 28 |
+
"object_restitution": 0.5816149829922218,
|
| 29 |
+
"object_friction": 0.3452880255656765,
|
| 30 |
+
"collision_distance_m": 0.04444966089175056,
|
| 31 |
+
"drag_damping": 19.998132642502263,
|
| 32 |
+
"dashpot_damping": 199.3914065683507
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.057152583962306,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.051423392025753856,
|
| 115 |
+
"workspace_s": 0.3052666748408228,
|
| 116 |
+
"objective_s": 0.005673640174791217,
|
| 117 |
+
"stage_capture_s": 0.12467735982500017,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007906836923211813,
|
| 123 |
+
"complete_s": 0.018809868022799492
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010105804540216923,
|
| 134 |
+
"complete_s": 0.00021410291083157063
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4547966979444027
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.589116803137586,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008533507557044066,
|
| 144 |
+
"tell_score": 0.0008533507557044066,
|
| 145 |
+
"observation_score": 0.0004922409685260556,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a09/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b04090c69e769420ed6925bf99018f83ce8bace16dec170eb379c053c0650689
|
| 3 |
+
size 2528914
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:91121dae7d55c135bf38b21c582befbf7715f9f19f836f048cfc51b3a34fc5b2
|
| 3 |
+
size 88574
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:685a23ec9b499dbf365fd71560536b7f7255d980ea1efbc512abed636a67d340
|
| 3 |
+
size 396688
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/record.json
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 157,
|
| 4 |
+
"ask_index": 10,
|
| 5 |
+
"global_ask_index": 1737,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4131581045089088,
|
| 8 |
+
0.9890644081147673,
|
| 9 |
+
0.9978767192167821,
|
| 10 |
+
0.5064142031886745,
|
| 11 |
+
0.8586455466049538,
|
| 12 |
+
0.7468513152238803,
|
| 13 |
+
0.29610961856171736,
|
| 14 |
+
0.580568101943972,
|
| 15 |
+
0.16350185217150043,
|
| 16 |
+
0.8483912070914569,
|
| 17 |
+
0.9997402695536691,
|
| 18 |
+
0.9982595637757181
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41315.81045089088,
|
| 22 |
+
"object_radius_m": 0.04956257632459069,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045448994223207216,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7468513152238803,
|
| 27 |
+
"ground_friction": 0.5922192371234347,
|
| 28 |
+
"object_restitution": 0.580568101943972,
|
| 29 |
+
"object_friction": 0.32700370434300086,
|
| 30 |
+
"collision_distance_m": 0.04393564828365828,
|
| 31 |
+
"drag_damping": 19.99480539107338,
|
| 32 |
+
"dashpot_damping": 199.65191275514363
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1136,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04543980583548546
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 649,
|
| 50 |
+
"hand_B": 487
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 5.635684172157198,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 5,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
10
|
| 110 |
+
],
|
| 111 |
+
"earlier_asks_pending_at_commit": [],
|
| 112 |
+
"preparation": {
|
| 113 |
+
"decode_topology_model_s": 0.056752935983240604,
|
| 114 |
+
"workspace_s": 0.2043447990436107,
|
| 115 |
+
"objective_s": 0.005790819879621267,
|
| 116 |
+
"stage_capture_s": 0.12712103803642094,
|
| 117 |
+
"warm_launch": {
|
| 118 |
+
"dynamics": {
|
| 119 |
+
"launched": true,
|
| 120 |
+
"graph_exec_existed": false,
|
| 121 |
+
"instantiate_and_enqueue_s": 0.007703243987634778,
|
| 122 |
+
"complete_s": 0.018573270179331303
|
| 123 |
+
},
|
| 124 |
+
"objective": {
|
| 125 |
+
"launched": 4,
|
| 126 |
+
"graph_exec_existed": {
|
| 127 |
+
"clear": false,
|
| 128 |
+
"select": false,
|
| 129 |
+
"loss": false,
|
| 130 |
+
"history": false
|
| 131 |
+
},
|
| 132 |
+
"instantiate_and_enqueue_s": 0.00011897110380232334,
|
| 133 |
+
"complete_s": 0.0002221150789409876
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"total_s": 0.3562205769121647
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"wall_time_s": 6.061831784900278,
|
| 141 |
+
"outcome": "finite",
|
| 142 |
+
"score": 0.0008552258713115168,
|
| 143 |
+
"tell_score": 0.0008552258713115168,
|
| 144 |
+
"observation_score": 0.0004933337466302849,
|
| 145 |
+
"completed_transitions": 491,
|
| 146 |
+
"physical_failure": null,
|
| 147 |
+
"trajectory_retained": false
|
| 148 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/a10/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9309b4684510a4c6128e37f8642302fa923949b57e292a00ce826a19ec7807ad
|
| 3 |
+
size 2528898
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/issued.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d3db7f00e4bec9e11b8f552d577a5a30330d019433b7eac34db68fa9ea0db9ac
|
| 3 |
+
size 1184
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/lifecycle.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791681204.066856, "t_invocation_s": 0.000149502, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []}
|
| 2 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681204.0674932, "t_invocation_s": 0.00078678, "wave": 0, "members": [0, 1], "occupancy": 2}
|
| 3 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681204.5757632, "t_invocation_s": 0.509057301, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05472899693995714, "workspace_s": 0.2932781719136983, "objective_s": 0.006175274960696697, "stage_capture_s": 0.1291810681577772, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007777725113555789, "complete_s": 0.018647574121132493}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.354902431368828e-05, "complete_s": 0.00022451416589319706}}, "total_s": 0.4476735380012542}, "object_springs": 18544, "controller_springs": 1142}
|
| 4 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681204.9948392, "t_invocation_s": 0.928133215, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05274245887994766, "workspace_s": 0.20925918011926115, "objective_s": 0.0055981159675866365, "stage_capture_s": 0.12234419002197683, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007107705809175968, "complete_s": 0.01806542882695794}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.731203317642212e-05, "complete_s": 0.0002556759864091873}}, "total_s": 0.355705063091591}, "object_springs": 18544, "controller_springs": 1135}
|
| 5 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681205.0000184, "t_invocation_s": 0.933312179, "wave": 0, "members": [0, 1]}
|
| 6 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681213.1385827, "t_invocation_s": 9.071876833, "wave": 0, "index": 0, "arrival": 0}
|
| 7 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681213.1473053, "t_invocation_s": 9.08059901, "wave": 0, "index": 1, "arrival": 1}
|
| 8 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681213.1751523, "t_invocation_s": 9.108446302, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
|
| 9 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681213.2018707, "t_invocation_s": 9.135164582, "wave": 0, "commit_order": [0, 1]}
|
| 10 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681213.2025602, "t_invocation_s": 9.135853989, "wave": 1, "members": [2, 3], "occupancy": 2}
|
| 11 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681213.6286325, "t_invocation_s": 9.561926358, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.055235036881640553, "workspace_s": 0.21260668989270926, "objective_s": 0.005712592974305153, "stage_capture_s": 0.12766775907948613, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007540979189798236, "complete_s": 0.018425940070301294}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011318898759782314, "complete_s": 0.0002521409187465906}}, "total_s": 0.36485539097338915}, "object_springs": 18544, "controller_springs": 1144}
|
| 12 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681214.1401348, "t_invocation_s": 10.073428983, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.053588317008689046, "workspace_s": 0.29779432201758027, "objective_s": 0.005896432092413306, "stage_capture_s": 0.1295610039960593, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007308838190510869, "complete_s": 0.01821243902668357}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010724714957177639, "complete_s": 0.0002677440643310547}}, "total_s": 0.4519042680040002}, "object_springs": 18544, "controller_springs": 1142}
|
| 13 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681214.1454268, "t_invocation_s": 10.078720351, "wave": 1, "members": [2, 3]}
|
| 14 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681222.20024, "t_invocation_s": 18.133533775, "wave": 1, "index": 2, "arrival": 0}
|
| 15 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681222.2128677, "t_invocation_s": 18.1461615, "wave": 1, "index": 3, "arrival": 1}
|
| 16 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681222.2402697, "t_invocation_s": 18.173563899, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
|
| 17 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681222.2668762, "t_invocation_s": 18.200170257, "wave": 1, "commit_order": [2, 3]}
|
| 18 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681222.2676604, "t_invocation_s": 18.200954031, "wave": 2, "members": [4, 5], "occupancy": 2}
|
| 19 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681222.6930137, "t_invocation_s": 18.626307691, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.055530402110889554, "workspace_s": 0.21442939597181976, "objective_s": 0.005843213060870767, "stage_capture_s": 0.12375070690177381, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008695938857272267, "complete_s": 0.019564488902688026}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010079517960548401, "complete_s": 0.00021581817418336868}}, "total_s": 0.36396632995456457}, "object_springs": 18544, "controller_springs": 1138}
|
| 20 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681223.2081585, "t_invocation_s": 19.141452512, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05383943300694227, "workspace_s": 0.30182610894553363, "objective_s": 0.005834116134792566, "stage_capture_s": 0.12454660097137094, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0073002728167921305, "complete_s": 0.018205255968496203}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.964196942746639e-05, "complete_s": 0.00022351089864969254}}, "total_s": 0.45080856792628765}, "object_springs": 18544, "controller_springs": 1138}
|
| 21 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681223.213421, "t_invocation_s": 19.146714849, "wave": 2, "members": [4, 5]}
|
| 22 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681231.267531, "t_invocation_s": 27.200825096, "wave": 2, "index": 4, "arrival": 0}
|
| 23 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681231.275609, "t_invocation_s": 27.20890274, "wave": 2, "index": 5, "arrival": 1}
|
| 24 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681231.3030534, "t_invocation_s": 27.236347594, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
|
| 25 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681231.3300655, "t_invocation_s": 27.26335975, "wave": 2, "commit_order": [4, 5]}
|
| 26 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681231.3308282, "t_invocation_s": 27.264122157, "wave": 3, "members": [6, 7], "occupancy": 2}
|
| 27 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681231.7565198, "t_invocation_s": 27.689813572, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05690880608744919, "workspace_s": 0.21201121993362904, "objective_s": 0.005731303943321109, "stage_capture_s": 0.12642089603468776, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007617189083248377, "complete_s": 0.018498589051887393}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011988496407866478, "complete_s": 0.00023197894915938377}}, "total_s": 0.36305427202023566}, "object_springs": 18544, "controller_springs": 1149}
|
| 28 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681232.275011, "t_invocation_s": 28.208305296, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05178381688892841, "workspace_s": 0.3026920189149678, "objective_s": 0.005713032092899084, "stage_capture_s": 0.128500544000417, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008054811973124743, "complete_s": 0.018954471917822957}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011324696242809296, "complete_s": 0.00023987493477761745}}, "total_s": 0.4562801718711853}, "object_springs": 18544, "controller_springs": 1134}
|
| 29 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681232.2801738, "t_invocation_s": 28.213467576, "wave": 3, "members": [6, 7]}
|
| 30 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681240.3393378, "t_invocation_s": 36.272631657, "wave": 3, "index": 6, "arrival": 0}
|
| 31 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681240.352053, "t_invocation_s": 36.285346577, "wave": 3, "index": 7, "arrival": 1}
|
| 32 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681240.383583, "t_invocation_s": 36.316876954, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
|
| 33 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681240.4137115, "t_invocation_s": 36.347005747, "wave": 3, "commit_order": [6, 7]}
|
| 34 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681240.4146664, "t_invocation_s": 36.347960191, "wave": 4, "members": [8, 9], "occupancy": 2}
|
| 35 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681240.8388844, "t_invocation_s": 36.772178337, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05468637798912823, "workspace_s": 0.21220044302754104, "objective_s": 0.005646490957587957, "stage_capture_s": 0.1265277280472219, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008053036173805594, "complete_s": 0.01891591097228229}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.000101407989859581, "complete_s": 0.00024171010591089725}}, "total_s": 0.36372360517270863}, "object_springs": 18544, "controller_springs": 1142}
|
| 36 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681241.3556652, "t_invocation_s": 37.288959202, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.051423392025753856, "workspace_s": 0.3052666748408228, "objective_s": 0.005673640174791217, "stage_capture_s": 0.12467735982500017, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007906836923211813, "complete_s": 0.018809868022799492}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010105804540216923, "complete_s": 0.00021410291083157063}}, "total_s": 0.4547966979444027}, "object_springs": 18544, "controller_springs": 1139}
|
| 37 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681241.360787, "t_invocation_s": 37.294080705, "wave": 4, "members": [8, 9]}
|
| 38 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681249.4261713, "t_invocation_s": 45.359465295, "wave": 4, "index": 8, "arrival": 0}
|
| 39 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681249.438813, "t_invocation_s": 45.372106523, "wave": 4, "index": 9, "arrival": 1}
|
| 40 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681249.467879, "t_invocation_s": 45.401173386, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
|
| 41 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681249.4974563, "t_invocation_s": 45.430750704, "wave": 4, "commit_order": [8, 9]}
|
| 42 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791681249.4982412, "t_invocation_s": 45.431535074, "wave": 5, "members": [10], "occupancy": 1}
|
| 43 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791681249.9173672, "t_invocation_s": 45.850661423, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.056752935983240604, "workspace_s": 0.2043447990436107, "objective_s": 0.005790819879621267, "stage_capture_s": 0.12712103803642094, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007703243987634778, "complete_s": 0.018573270179331303}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011897110380232334, "complete_s": 0.0002221150789409876}}, "total_s": 0.3562205769121647}, "object_springs": 18544, "controller_springs": 1136}
|
| 44 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791681249.922611, "t_invocation_s": 45.855904565, "wave": 5, "members": [10]}
|
| 45 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791681255.56718, "t_invocation_s": 51.500473952, "wave": 5, "index": 10, "arrival": 0}
|
| 46 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791681255.5723476, "t_invocation_s": 51.505641255, "wave": 5, "drained": {"10": "drained"}}
|
| 47 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791681255.6017962, "t_invocation_s": 51.535090164, "wave": 5, "commit_order": [10]}
|
| 48 |
+
{"invocation": 1, "kind": "told", "t_unix_s": 1791681255.6038604, "t_invocation_s": 51.537154135, "generation": 157, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 1693}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/strategy_after_ask.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:604e4808eb39e9bb6904eb67101458a69adf6801baa9fc0d8c40136d281c13c7
|
| 3 |
+
size 31608
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/strategy_after_tell.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:788209f8dd145225a255ee5d6c884c20e92ad05d516439ff9f22ff2ba8e5afe4
|
| 3 |
+
size 28324
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g157/told.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"generation": 157,
|
| 3 |
+
"told_scores": [
|
| 4 |
+
0.0008534471672848663,
|
| 5 |
+
0.0008548975718499763,
|
| 6 |
+
0.0008584560222027287,
|
| 7 |
+
0.0008534239890920937,
|
| 8 |
+
0.0008540525683764958,
|
| 9 |
+
0.0008539044569976023,
|
| 10 |
+
0.0008616134502828717,
|
| 11 |
+
0.0008553215337943526,
|
| 12 |
+
0.0008533368251352123,
|
| 13 |
+
0.0008533507557044066,
|
| 14 |
+
0.0008552258713115168
|
| 15 |
+
],
|
| 16 |
+
"physical_failures": 0,
|
| 17 |
+
"physical_failures_total": 0,
|
| 18 |
+
"issued_asks_total": 1738,
|
| 19 |
+
"told_asks_total": 1738,
|
| 20 |
+
"champion": {
|
| 21 |
+
"generation": 153,
|
| 22 |
+
"ask_index": 10,
|
| 23 |
+
"global_ask_index": 1693,
|
| 24 |
+
"score": 0.0008533107837419786,
|
| 25 |
+
"observation_score": 0.000492745966085303,
|
| 26 |
+
"normalized": [
|
| 27 |
+
0.41250427551953583,
|
| 28 |
+
0.986402752622969,
|
| 29 |
+
0.998738594841074,
|
| 30 |
+
0.5070274568330115,
|
| 31 |
+
0.8584528114262103,
|
| 32 |
+
0.7535294693799207,
|
| 33 |
+
0.3002527486838762,
|
| 34 |
+
0.5769338569976543,
|
| 35 |
+
0.18290017823999882,
|
| 36 |
+
0.8619579574670583,
|
| 37 |
+
0.9999368445703554,
|
| 38 |
+
0.99450714393433
|
| 39 |
+
],
|
| 40 |
+
"settings": {
|
| 41 |
+
"spring_y": 41250.42755195358,
|
| 42 |
+
"object_radius_m": 0.04945611010491876,
|
| 43 |
+
"object_max_neighbours": 49,
|
| 44 |
+
"controller_radius_m": 0.04549192197831081,
|
| 45 |
+
"controller_max_neighbours": 70,
|
| 46 |
+
"ground_restitution": 0.7535294693799207,
|
| 47 |
+
"ground_friction": 0.6005054973677524,
|
| 48 |
+
"object_restitution": 0.5769338569976543,
|
| 49 |
+
"object_friction": 0.36580035647999765,
|
| 50 |
+
"collision_distance_m": 0.04447831829868233,
|
| 51 |
+
"drag_damping": 19.998736891407106,
|
| 52 |
+
"dashpot_damping": 198.901428786866
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"pycma": {
|
| 56 |
+
"countiter": 158,
|
| 57 |
+
"countevals": 1738,
|
| 58 |
+
"sigma": 0.005926001882021628
|
| 59 |
+
}
|
| 60 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a4d6e25994c059ed2b937b2c092d11131e9fbcb402e089266d6cc29f11a79a7c
|
| 3 |
+
size 88582
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:572413372e93ab655a391561d98d43e305213ae35d4740339abbb3e1192cb8fc
|
| 3 |
+
size 396868
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 0,
|
| 5 |
+
"global_ask_index": 1738,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.415172804083472,
|
| 8 |
+
0.9905424491445497,
|
| 9 |
+
0.9989769629456088,
|
| 10 |
+
0.5076748464511436,
|
| 11 |
+
0.8598720659704694,
|
| 12 |
+
0.7286088657850528,
|
| 13 |
+
0.29708129534328614,
|
| 14 |
+
0.5887873313840589,
|
| 15 |
+
0.17269992429683234,
|
| 16 |
+
0.8683333672827812,
|
| 17 |
+
0.9999567312930595,
|
| 18 |
+
0.9972571467901825
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41517.2804083472,
|
| 22 |
+
"object_radius_m": 0.04962169796578199,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045537239251580056,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7286088657850528,
|
| 27 |
+
"ground_friction": 0.5941625906865723,
|
| 28 |
+
"object_restitution": 0.5887873313840589,
|
| 29 |
+
"object_friction": 0.3453998485936647,
|
| 30 |
+
"collision_distance_m": 0.04473333469131125,
|
| 31 |
+
"drag_damping": 19.99913462586119,
|
| 32 |
+
"dashpot_damping": 199.4514293580365
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1145,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045529358088970184
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 653,
|
| 50 |
+
"hand_B": 492
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.047735807020217,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.1292471420019865,
|
| 115 |
+
"workspace_s": 0.20932666421867907,
|
| 116 |
+
"objective_s": 0.005636819871142507,
|
| 117 |
+
"stage_capture_s": 0.12450681813061237,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007689893012866378,
|
| 123 |
+
"complete_s": 0.018557257018983364
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.0001406718511134386,
|
| 134 |
+
"complete_s": 0.00027647591196000576
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3584816961083561
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.06599426199682,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008588982327229983,
|
| 144 |
+
"tell_score": 0.0008588982327229983,
|
| 145 |
+
"observation_score": 0.0004967252139928902,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a00/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77a0a697a2c8ecd7ec083a2cf2d1fb77fb87309bf9b92c8d8e5bb22d26ebdbd4
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a7d2b6b1b9cb5cdddb77daac56f28cc4d6dfff3c65395feb0153c7cd4f4b1c63
|
| 3 |
+
size 88614
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3bbffb2c5323fe75a61559e6d6ab8caa063f98f464b88f596641105e0a133fee
|
| 3 |
+
size 396864
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 1,
|
| 5 |
+
"global_ask_index": 1739,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41348931120086624,
|
| 8 |
+
0.9853856121528098,
|
| 9 |
+
0.9984818687673672,
|
| 10 |
+
0.5075925672151564,
|
| 11 |
+
0.8592151837959527,
|
| 12 |
+
0.7377330757536936,
|
| 13 |
+
0.29639136929955157,
|
| 14 |
+
0.5778219113134239,
|
| 15 |
+
0.17310941700495774,
|
| 16 |
+
0.8585505445321341,
|
| 17 |
+
0.9999388513245803,
|
| 18 |
+
0.9969402298550525
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41348.93112008662,
|
| 22 |
+
"object_radius_m": 0.0494154244861124,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045531479705060954,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7377330757536936,
|
| 27 |
+
"ground_friction": 0.5927827385991031,
|
| 28 |
+
"object_restitution": 0.5778219113134239,
|
| 29 |
+
"object_friction": 0.3462188340099155,
|
| 30 |
+
"collision_distance_m": 0.044342021781285365,
|
| 31 |
+
"drag_damping": 19.998777026491606,
|
| 32 |
+
"dashpot_damping": 199.38804597101048
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1145,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045529358088970184
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 653,
|
| 50 |
+
"hand_B": 492
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.047735807020217,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05304076708853245,
|
| 115 |
+
"workspace_s": 0.2975911779794842,
|
| 116 |
+
"objective_s": 0.005810206988826394,
|
| 117 |
+
"stage_capture_s": 0.1312011550180614,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.00808033300563693,
|
| 123 |
+
"complete_s": 0.018994074780493975
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010626111179590225,
|
| 134 |
+
"complete_s": 0.0002478710375726223
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.45402494608424604
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.58077394706197,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008587375281581583,
|
| 144 |
+
"tell_score": 0.0008587375281581583,
|
| 145 |
+
"observation_score": 0.0004970935170991344,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4e2e6735d5d013dd09f8bbb4471427dd9434e22fcc01e488d498d55b4e66dc96
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72533eaf8e2cd9b89d1e13f26c3e4bc01f855d9d670baae013a1265d2769608b
|
| 3 |
+
size 88594
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83e09a7d3880db7c0322321361cbc666da5f2ebaf1e78ef759acceaaf4074286
|
| 3 |
+
size 396752
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 2,
|
| 5 |
+
"global_ask_index": 1740,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41426967295984823,
|
| 8 |
+
0.9897423922348738,
|
| 9 |
+
0.9988705677968243,
|
| 10 |
+
0.5070881962811649,
|
| 11 |
+
0.8650598718000946,
|
| 12 |
+
0.7446189949001522,
|
| 13 |
+
0.29135408277176117,
|
| 14 |
+
0.5839930420259465,
|
| 15 |
+
0.16428167412440245,
|
| 16 |
+
0.8555637877628298,
|
| 17 |
+
0.9997526102283703,
|
| 18 |
+
0.9972271718467469
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41426.967295984825,
|
| 22 |
+
"object_radius_m": 0.049589695689394954,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045496173739681546,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7446189949001522,
|
| 27 |
+
"ground_friction": 0.5827081655435223,
|
| 28 |
+
"object_restitution": 0.5839930420259465,
|
| 29 |
+
"object_friction": 0.3285633482488049,
|
| 30 |
+
"collision_distance_m": 0.04422255151051319,
|
| 31 |
+
"drag_damping": 19.995052204567404,
|
| 32 |
+
"dashpot_damping": 199.44543436934939
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.047642248217016,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05476674600504339,
|
| 115 |
+
"workspace_s": 0.20589316193945706,
|
| 116 |
+
"objective_s": 0.005588857922703028,
|
| 117 |
+
"stage_capture_s": 0.12441447912715375,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007305406033992767,
|
| 123 |
+
"complete_s": 0.018181807128712535
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.37189906835556e-05,
|
| 134 |
+
"complete_s": 0.0002148989588022232
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3544585939962417
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.975153715815395,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008534115588223958,
|
| 144 |
+
"tell_score": 0.0008534115588223958,
|
| 145 |
+
"observation_score": 0.0004923639231555395,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a02/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:048573989841f64171a4ab94d9a03086baf5226dc19d52db489da65036b4067b
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5395b7bceec99331826fd1b2ab33477988720d420c036fe4c719ca811e419a49
|
| 3 |
+
size 88610
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94cf8d61fba8379677e3f08e5d79a30d259ddc149cd8cf8f3fba0ea124d8781f
|
| 3 |
+
size 396948
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 3,
|
| 5 |
+
"global_ask_index": 1741,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41562053627597356,
|
| 8 |
+
0.9913298549549383,
|
| 9 |
+
0.9994069405060162,
|
| 10 |
+
0.5081416013142231,
|
| 11 |
+
0.8615987421666395,
|
| 12 |
+
0.7332038346750209,
|
| 13 |
+
0.2914181971122796,
|
| 14 |
+
0.587432338572794,
|
| 15 |
+
0.15214124426447584,
|
| 16 |
+
0.8582833261935522,
|
| 17 |
+
0.9998846874972924,
|
| 18 |
+
0.9990602581832491
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41562.05362759736,
|
| 22 |
+
"object_radius_m": 0.04965319419819753,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045569912091995624,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7332038346750209,
|
| 27 |
+
"ground_friction": 0.5828363942245592,
|
| 28 |
+
"object_restitution": 0.587432338572794,
|
| 29 |
+
"object_friction": 0.3042824885289517,
|
| 30 |
+
"collision_distance_m": 0.04433133304774209,
|
| 31 |
+
"drag_damping": 19.99769374994585,
|
| 32 |
+
"dashpot_damping": 199.8120516366498
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1149,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045564841479063034
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 653,
|
| 50 |
+
"hand_B": 496
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.047642248217016,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05017402698285878,
|
| 115 |
+
"workspace_s": 0.29448202694766223,
|
| 116 |
+
"objective_s": 0.005807694047689438,
|
| 117 |
+
"stage_capture_s": 0.12994007184170187,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007560187019407749,
|
| 123 |
+
"complete_s": 0.018456805031746626
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010378006845712662,
|
| 134 |
+
"complete_s": 0.0002214598935097456
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.44907264201901853
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.568757729837671,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000861614905370664,
|
| 144 |
+
"tell_score": 0.000861614905370664,
|
| 145 |
+
"observation_score": 0.0004981297691333223,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a03/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0439cf0aeda8d443a26896d9183e0cb292188ecdedf6298db7428be553363cc0
|
| 3 |
+
size 2528902
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f06a62e1dc07ab23824d73390b375b95c85c87d88fbf16b37fd45a2522280a59
|
| 3 |
+
size 88582
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fb9b598b37ff6be0945ff843e4e80ef9b375c8771cdc1153577b1ad7eb10224
|
| 3 |
+
size 396864
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 4,
|
| 5 |
+
"global_ask_index": 1742,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4146795840022536,
|
| 8 |
+
0.991625294240857,
|
| 9 |
+
0.9985064551138303,
|
| 10 |
+
0.5076223062679763,
|
| 11 |
+
0.8606556693793229,
|
| 12 |
+
0.7339603229497783,
|
| 13 |
+
0.2920565521526347,
|
| 14 |
+
0.5873906976338534,
|
| 15 |
+
0.15957686314844294,
|
| 16 |
+
0.8526232298210544,
|
| 17 |
+
0.9999084884440984,
|
| 18 |
+
0.9980894479839805
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41467.958400225354,
|
| 22 |
+
"object_radius_m": 0.04966501176963428,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04553356143875835,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7339603229497783,
|
| 27 |
+
"ground_friction": 0.5841131043052694,
|
| 28 |
+
"object_restitution": 0.5873906976338534,
|
| 29 |
+
"object_friction": 0.3191537262968859,
|
| 30 |
+
"collision_distance_m": 0.04410492919284218,
|
| 31 |
+
"drag_damping": 19.99816976888197,
|
| 32 |
+
"dashpot_damping": 199.6178895967961
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1145,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045529358088970184
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 653,
|
| 50 |
+
"hand_B": 492
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.044819823931903,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05707961809821427,
|
| 115 |
+
"workspace_s": 0.2098690781276673,
|
| 116 |
+
"objective_s": 0.005614729830995202,
|
| 117 |
+
"stage_capture_s": 0.12393653020262718,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007440370973199606,
|
| 123 |
+
"complete_s": 0.01830517197959125
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.530503302812576e-05,
|
| 134 |
+
"complete_s": 0.00022167107090353966
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.358138362178579
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.981250496115535,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008588360413789698,
|
| 144 |
+
"tell_score": 0.0008588360413789698,
|
| 145 |
+
"observation_score": 0.0004968336593404047,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a04/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a59afbcf5abac95941e5224dd72ebf2dfd38c2da20c68e83169e81bd11da0e97
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee680948a48a3e44aae8fe0db7697ee0aa4b8bd80f0df02951d60b57e22c6a15
|
| 3 |
+
size 88582
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c571f6443e952f535326d6865f8dcce02a7185cec4b9e0dd0b2361c1b35a767
|
| 3 |
+
size 396768
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 5,
|
| 5 |
+
"global_ask_index": 1743,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41534103033919495,
|
| 8 |
+
0.9917951144184436,
|
| 9 |
+
0.9988487789405909,
|
| 10 |
+
0.5071709545575835,
|
| 11 |
+
0.8580145623803476,
|
| 12 |
+
0.7383897477248721,
|
| 13 |
+
0.28737123695649996,
|
| 14 |
+
0.5852669430079497,
|
| 15 |
+
0.1664111329471718,
|
| 16 |
+
0.8495747999454858,
|
| 17 |
+
0.9998780290673509,
|
| 18 |
+
0.9985385592017859
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41534.1030339195,
|
| 22 |
+
"object_radius_m": 0.04967180457673775,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045501966819030855,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7383897477248721,
|
| 27 |
+
"ground_friction": 0.5747424739129999,
|
| 28 |
+
"object_restitution": 0.5852669430079497,
|
| 29 |
+
"object_friction": 0.3328222658943436,
|
| 30 |
+
"collision_distance_m": 0.04398299199781944,
|
| 31 |
+
"drag_damping": 19.997560581347017,
|
| 32 |
+
"dashpot_damping": 199.70771184035718
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1140,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.044819823931903,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05121995182707906,
|
| 115 |
+
"workspace_s": 0.29589071800000966,
|
| 116 |
+
"objective_s": 0.005640133051201701,
|
| 117 |
+
"stage_capture_s": 0.12623664108105004,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007302189012989402,
|
| 123 |
+
"complete_s": 0.018203032901510596
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.721913374960423e-05,
|
| 134 |
+
"complete_s": 0.00023681996390223503
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.44638329511508346
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.569399905856699,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008538027201719201,
|
| 144 |
+
"tell_score": 0.0008538027201719201,
|
| 145 |
+
"observation_score": 0.0004922262708842138,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a05/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:27befc1e8480f58e6b790125ce0c74ea8e6350dd249211d1a61c501bb69640dc
|
| 3 |
+
size 2528910
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c786de7e810c02f94e145efd4a9b86737c562ce818c46d321b443fd1e7cc9f04
|
| 3 |
+
size 88606
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4d4137666e81509370adfdeb58c74887d6e78d000563ab5da0dd81f305ef0bd4
|
| 3 |
+
size 396792
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g158/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 158,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 1744,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41505833574935874,
|
| 8 |
+
0.9867958541316996,
|
| 9 |
+
0.9987385474998851,
|
| 10 |
+
0.507297304773504,
|
| 11 |
+
0.8660505628315537,
|
| 12 |
+
0.7458996995166204,
|
| 13 |
+
0.30209511588615834,
|
| 14 |
+
0.5880626750589125,
|
| 15 |
+
0.17333974118580503,
|
| 16 |
+
0.8598941670514736,
|
| 17 |
+
0.9999276833920135,
|
| 18 |
+
0.9939542018116203
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41505.833574935874,
|
| 22 |
+
"object_radius_m": 0.049471834165267986,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045510811334145286,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7458996995166204,
|
| 27 |
+
"ground_friction": 0.6041902317723167,
|
| 28 |
+
"object_restitution": 0.5880626750589125,
|
| 29 |
+
"object_friction": 0.34667948237161006,
|
| 30 |
+
"collision_distance_m": 0.04439576668205895,
|
| 31 |
+
"drag_damping": 19.99855366784027,
|
| 32 |
+
"dashpot_damping": 198.79084036232405
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1141,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045508187264204025
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 652,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.047422172967345,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05662945215590298,
|
| 115 |
+
"workspace_s": 0.20731468312442303,
|
| 116 |
+
"objective_s": 0.005823823856189847,
|
| 117 |
+
"stage_capture_s": 0.12859192211180925,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007722009904682636,
|
| 123 |
+
"complete_s": 0.01856658491306007
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010355096310377121,
|
| 134 |
+
"complete_s": 0.00023385882377624512
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.360706222942099
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.999450910137966,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000853915996088451,
|
| 144 |
+
"tell_score": 0.000853915996088451,
|
| 145 |
+
"observation_score": 0.0004923316446662162,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|