sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 54/173
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/g006/a06/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a06/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a06/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/record.json +148 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/issued.npy +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/lifecycle.jsonl +48 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/strategy_after_ask.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/strategy_after_tell.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/told.json +60 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a06/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a06/model/topology.npz +3 -0
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c352e570d50f2c5dc4140a067a8f3923c04ee94e5fad948dd4c6128e7b68e1e1
|
| 3 |
+
size 400988
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 6,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 72,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.5555677791420738,
|
| 8 |
+
0.6612521452650226,
|
| 9 |
+
0.9832371353631917,
|
| 10 |
+
0.5760778697470517,
|
| 11 |
+
0.6750310872408407,
|
| 12 |
+
0.4342390212183216,
|
| 13 |
+
0.0022586697155014697,
|
| 14 |
+
0.7244253959976455,
|
| 15 |
+
0.3568614294792469,
|
| 16 |
+
0.42206598064006673,
|
| 17 |
+
0.9948061914301178,
|
| 18 |
+
0.14647448619739095
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 55556.77791420738,
|
| 22 |
+
"object_radius_m": 0.036450085810600906,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.05032545088229362,
|
| 25 |
+
"controller_max_neighbours": 57,
|
| 26 |
+
"ground_restitution": 0.4342390212183216,
|
| 27 |
+
"ground_friction": 0.0045173394310029395,
|
| 28 |
+
"object_restitution": 0.7244253959976455,
|
| 29 |
+
"object_friction": 0.7137228589584939,
|
| 30 |
+
"collision_distance_m": 0.02688263922560267,
|
| 31 |
+
"drag_damping": 19.896123828602356,
|
| 32 |
+
"dashpot_damping": 29.29489723947819
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18516,
|
| 36 |
+
"controller_springs": 1379,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.036392953246831894
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.05032330006361008
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 218,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 755,
|
| 50 |
+
"hand_B": 624
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.491549412952736,
|
| 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": 0.05513850809074938,
|
| 115 |
+
"workspace_s": 0.28987638698890805,
|
| 116 |
+
"objective_s": 0.005914018023759127,
|
| 117 |
+
"stage_capture_s": 0.12639233004301786,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007122131995856762,
|
| 123 |
+
"complete_s": 0.01797578693367541
|
| 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": 9.045284241437912e-05,
|
| 134 |
+
"complete_s": 0.0002164898905903101
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4405765871051699
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.360837090061978,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0009407782806235304,
|
| 144 |
+
"tell_score": 0.0009407782806235304,
|
| 145 |
+
"observation_score": 0.0005096429650267053,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": true
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a06/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3945dd101fce3108055a1a36cdfa3cf5f0535f3909db0d045ee0e3f272937c9b
|
| 3 |
+
size 11136918
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:08ecbe0221d7252d01151465b124a47c2c5927070cf842466747f05d0ce9f750
|
| 3 |
+
size 64502
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:123d77afa971a1d078d22314099ed932d04b86866fbad3ae72e03db42356bc11
|
| 3 |
+
size 276488
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a07/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 6,
|
| 4 |
+
"ask_index": 7,
|
| 5 |
+
"global_ask_index": 73,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.5726605961990769,
|
| 8 |
+
0.43230524136080273,
|
| 9 |
+
0.6293455118542527,
|
| 10 |
+
0.28708619792083084,
|
| 11 |
+
0.3935446386692717,
|
| 12 |
+
0.9042517466004576,
|
| 13 |
+
0.3468028552676999,
|
| 14 |
+
0.8053024363866987,
|
| 15 |
+
0.5135393713182256,
|
| 16 |
+
0.127190487064046,
|
| 17 |
+
0.8733374256431731,
|
| 18 |
+
0.5760555838466835
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 57266.0596199077,
|
| 22 |
+
"object_radius_m": 0.02729220965443211,
|
| 23 |
+
"object_max_neighbours": 35,
|
| 24 |
+
"controller_radius_m": 0.030096033854458158,
|
| 25 |
+
"controller_max_neighbours": 37,
|
| 26 |
+
"ground_restitution": 0.9042517466004576,
|
| 27 |
+
"ground_friction": 0.6936057105353998,
|
| 28 |
+
"object_restitution": 0.8053024363866987,
|
| 29 |
+
"object_friction": 1.0270787426364512,
|
| 30 |
+
"collision_distance_m": 0.015087619482561841,
|
| 31 |
+
"drag_damping": 17.46674851286346,
|
| 32 |
+
"dashpot_damping": 115.21111676933671
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 13409,
|
| 36 |
+
"controller_springs": 261,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.027258170768618584
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.03007884882390499
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 118,
|
| 47 |
+
"controls_without_attachment": 17,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 173,
|
| 50 |
+
"hand_B": 88
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.491549412952736,
|
| 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": 0.03597046295180917,
|
| 115 |
+
"workspace_s": 0.16599319805391133,
|
| 116 |
+
"objective_s": 0.005808596964925528,
|
| 117 |
+
"stage_capture_s": 0.12506355601362884,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.01127697597257793,
|
| 123 |
+
"complete_s": 0.021024812012910843
|
| 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": 0.00010810117237269878,
|
| 134 |
+
"complete_s": 0.00023881718516349792
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3183374418877065
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 7.8750557489693165,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0010836756169189492,
|
| 144 |
+
"tell_score": 0.0010836756169189492,
|
| 145 |
+
"observation_score": 0.0005534391353304438,
|
| 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/g006/a07/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b1f8b5fd5be0a17eeb5a57ef8cc3a8e96a6f2afcf34c6ff80277e6b345fd7203
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b78aa530a42d6885066dbcd5aceafcfed18609ca58815f453f487ae548180d3a
|
| 3 |
+
size 58098
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8364894f8e38eb6c4105094a3121bd3494496362dfee234c33d37b925c3c43a5
|
| 3 |
+
size 244424
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a08/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 6,
|
| 4 |
+
"ask_index": 8,
|
| 5 |
+
"global_ask_index": 74,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.5865855591075384,
|
| 8 |
+
0.5316372002029863,
|
| 9 |
+
0.4977580549742356,
|
| 10 |
+
0.4887037575507884,
|
| 11 |
+
0.47795793205153714,
|
| 12 |
+
0.626990886134873,
|
| 13 |
+
0.13386333752591265,
|
| 14 |
+
0.6401155805710012,
|
| 15 |
+
0.0416647320699331,
|
| 16 |
+
0.24759858954692848,
|
| 17 |
+
0.728632048191568,
|
| 18 |
+
0.3851916829547087
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 58658.55591075384,
|
| 22 |
+
"object_radius_m": 0.03126548800811945,
|
| 23 |
+
"object_max_neighbours": 29,
|
| 24 |
+
"controller_radius_m": 0.04420926302855519,
|
| 25 |
+
"controller_max_neighbours": 43,
|
| 26 |
+
"ground_restitution": 0.626990886134873,
|
| 27 |
+
"ground_friction": 0.2677266750518253,
|
| 28 |
+
"object_restitution": 0.6401155805710012,
|
| 29 |
+
"object_friction": 0.0833294641398662,
|
| 30 |
+
"collision_distance_m": 0.01990394358187714,
|
| 31 |
+
"drag_damping": 14.572640963831361,
|
| 32 |
+
"dashpot_damping": 77.03833659094174
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 11243,
|
| 36 |
+
"controller_springs": 824,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.02539314515888691
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.044203247874975204
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 186,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 442,
|
| 50 |
+
"hand_B": 382
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.1477935470175,
|
| 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": 0.03580950293689966,
|
| 115 |
+
"workspace_s": 0.2347232650499791,
|
| 116 |
+
"objective_s": 0.005790466908365488,
|
| 117 |
+
"stage_capture_s": 0.12376984697766602,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008561250986531377,
|
| 123 |
+
"complete_s": 0.01786325895227492
|
| 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": 0.00010725297033786774,
|
| 134 |
+
"complete_s": 0.00023660901933908463
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.38256927696056664
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 7.980276420945302,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0013373384483717193,
|
| 144 |
+
"tell_score": 0.0013373384483717193,
|
| 145 |
+
"observation_score": 0.0007753671827283166,
|
| 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/g006/a08/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8b662fc6fd6055a9436c3c887c1dd016756b3790b82df009be3ac9423ef05a2c
|
| 3 |
+
size 2528870
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:63640c7459b3bfdd33dfbf4c093d76efc55474ef6f20c4e0cd5d1938644684d5
|
| 3 |
+
size 77774
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92e53e44c5b906a9951ec0a8eac18216a701612737a4c63705beaa99c9558347
|
| 3 |
+
size 342728
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a09/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 6,
|
| 4 |
+
"ask_index": 9,
|
| 5 |
+
"global_ask_index": 75,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.5029925920338109,
|
| 8 |
+
0.8302377020558612,
|
| 9 |
+
0.8365247760528715,
|
| 10 |
+
0.44660014044028995,
|
| 11 |
+
0.4305150827034777,
|
| 12 |
+
0.825658052099312,
|
| 13 |
+
0.28880711880819643,
|
| 14 |
+
0.6994974213388103,
|
| 15 |
+
0.6072906479288793,
|
| 16 |
+
0.0032124795532714138,
|
| 17 |
+
0.8467941842393155,
|
| 18 |
+
0.5735925090569592
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 50299.25920338109,
|
| 22 |
+
"object_radius_m": 0.04320950808223445,
|
| 23 |
+
"object_max_neighbours": 43,
|
| 24 |
+
"controller_radius_m": 0.041262009830820304,
|
| 25 |
+
"controller_max_neighbours": 40,
|
| 26 |
+
"ground_restitution": 0.825658052099312,
|
| 27 |
+
"ground_friction": 0.5776142376163929,
|
| 28 |
+
"object_restitution": 0.6994974213388103,
|
| 29 |
+
"object_friction": 1.2145812958577586,
|
| 30 |
+
"collision_distance_m": 0.010128499182130856,
|
| 31 |
+
"drag_damping": 16.93588368478631,
|
| 32 |
+
"dashpot_damping": 114.71850181139185
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 16343,
|
| 36 |
+
"controller_springs": 639,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.03661871328949928
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.041254281997680664
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 176,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 371,
|
| 50 |
+
"hand_B": 268
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.1477935470175,
|
| 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": 0.04513390199281275,
|
| 115 |
+
"workspace_s": 0.1923015678767115,
|
| 116 |
+
"objective_s": 0.005943553987890482,
|
| 117 |
+
"stage_capture_s": 0.1284821021836251,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008254381129518151,
|
| 123 |
+
"complete_s": 0.018628176068887115
|
| 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": 0.00010028015822172165,
|
| 134 |
+
"complete_s": 0.00022882013581693172
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3457576909568161
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 7.563825445948169,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0011230715134344918,
|
| 144 |
+
"tell_score": 0.0011230715134344918,
|
| 145 |
+
"observation_score": 0.0006314047801246925,
|
| 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/g006/a09/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:de1325e717f9dc4761ae0d997fbeb7a76751d25d18257b68fea84be769096604
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95ed098c262246dae65228b497945dfe18c87cf4d1ee75362dee26dd298f80d8
|
| 3 |
+
size 69550
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0eb81c5d97a1cfd7f983d4c99d0bec3b5ae7a6706401449af7ff96efb8072eef
|
| 3 |
+
size 301512
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/a10/record.json
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 6,
|
| 4 |
+
"ask_index": 10,
|
| 5 |
+
"global_ask_index": 76,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.37863080880391686,
|
| 8 |
+
0.4518163733463316,
|
| 9 |
+
0.6658730389572152,
|
| 10 |
+
0.6923619563504417,
|
| 11 |
+
0.42562976856394297,
|
| 12 |
+
0.5504405327235607,
|
| 13 |
+
0.029440214834763646,
|
| 14 |
+
0.6905757762958278,
|
| 15 |
+
0.35991365249833285,
|
| 16 |
+
0.3044848829932698,
|
| 17 |
+
0.6061852333780899,
|
| 18 |
+
0.6628431152593518
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 37863.08088039169,
|
| 22 |
+
"object_radius_m": 0.028072654933853268,
|
| 23 |
+
"object_max_neighbours": 36,
|
| 24 |
+
"controller_radius_m": 0.058465336944530925,
|
| 25 |
+
"controller_max_neighbours": 39,
|
| 26 |
+
"ground_restitution": 0.5504405327235607,
|
| 27 |
+
"ground_friction": 0.05888042966952729,
|
| 28 |
+
"object_restitution": 0.6905757762958278,
|
| 29 |
+
"object_friction": 0.7198273049966657,
|
| 30 |
+
"collision_distance_m": 0.022179395319730795,
|
| 31 |
+
"drag_damping": 12.1237046675618,
|
| 32 |
+
"dashpot_damping": 132.56862305187036
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 13751,
|
| 36 |
+
"controller_springs": 1170,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.027926137670874596
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.05526190996170044
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 201,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 624,
|
| 50 |
+
"hand_B": 546
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 5.124423363944516,
|
| 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": 0.04365354892797768,
|
| 114 |
+
"workspace_s": 0.2583872058894485,
|
| 115 |
+
"objective_s": 0.005859423195943236,
|
| 116 |
+
"stage_capture_s": 0.1268910758662969,
|
| 117 |
+
"warm_launch": {
|
| 118 |
+
"dynamics": {
|
| 119 |
+
"launched": true,
|
| 120 |
+
"graph_exec_existed": false,
|
| 121 |
+
"instantiate_and_enqueue_s": 0.007207739865407348,
|
| 122 |
+
"complete_s": 0.017047558911144733
|
| 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": 0.00010866601951420307,
|
| 133 |
+
"complete_s": 0.0002405489794909954
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"total_s": 0.4086308360565454
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"wall_time_s": 5.589954941999167,
|
| 141 |
+
"outcome": "finite",
|
| 142 |
+
"score": 0.0012884008148660202,
|
| 143 |
+
"tell_score": 0.0012884008148660202,
|
| 144 |
+
"observation_score": 0.0008030185041788638,
|
| 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/g006/a10/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:017dbf6061222118c1be185a1f2a4dc80b126650c93037b0e730a59c54db65c5
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/issued.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cfbbe63d949adf2e84becdc489e617def3cd8259c03c159e5432d73ff6cfa2d9
|
| 3 |
+
size 1184
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/lifecycle.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791673479.1934662, "t_invocation_s": 0.000116501, "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": 1791673479.1940987, "t_invocation_s": 0.000749194, "wave": 0, "members": [0, 1], "occupancy": 2}
|
| 3 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673479.652431, "t_invocation_s": 0.459081829, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.04073798889294267, "workspace_s": 0.26337948511354625, "objective_s": 0.005831466056406498, "stage_capture_s": 0.12469064886681736, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007632073014974594, "complete_s": 0.017489411868155003}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001020368654280901, "complete_s": 0.0002386679407209158}}, "total_s": 0.41185048199258745}, "object_springs": 13759, "controller_springs": 1380}
|
| 4 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673480.0001173, "t_invocation_s": 0.806767932, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.032583706779405475, "workspace_s": 0.15561673999764025, "objective_s": 0.005942807998508215, "stage_capture_s": 0.12577062007039785, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007416489068418741, "complete_s": 0.0168333922047168}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001304401084780693, "complete_s": 0.0002703811042010784}}, "total_s": 0.3046066970564425}, "object_springs": 11897, "controller_springs": 594}
|
| 5 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673480.0052803, "t_invocation_s": 0.811930721, "wave": 0, "members": [0, 1]}
|
| 6 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673486.9375036, "t_invocation_s": 7.744154225, "wave": 0, "index": 0, "arrival": 0}
|
| 7 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673486.949878, "t_invocation_s": 7.756528447, "wave": 0, "index": 1, "arrival": 1}
|
| 8 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673486.9793363, "t_invocation_s": 7.785987012, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
|
| 9 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673487.0072882, "t_invocation_s": 7.81393921, "wave": 0, "commit_order": [0, 1]}
|
| 10 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673487.0080562, "t_invocation_s": 7.814706471, "wave": 1, "members": [2, 3], "occupancy": 2}
|
| 11 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673487.45158, "t_invocation_s": 8.258230813, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.0396453479770571, "workspace_s": 0.24690205580554903, "objective_s": 0.00610361504368484, "stage_capture_s": 0.12678967299871147, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00803490006364882, "complete_s": 0.017665109131485224}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010134605690836906, "complete_s": 0.00023323693312704563}}, "total_s": 0.3978567209560424}, "object_springs": 12680, "controller_springs": 1465}
|
| 12 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673487.8205476, "t_invocation_s": 8.627198266, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.038924454944208264, "workspace_s": 0.17311516404151917, "objective_s": 0.005802043015137315, "stage_capture_s": 0.1235123120713979, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0067914670798927546, "complete_s": 0.016720334999263287}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.994092397391796e-05, "complete_s": 0.0002201658207923174}}, "total_s": 0.3195385569706559}, "object_springs": 14136, "controller_springs": 1140}
|
| 13 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673487.8259702, "t_invocation_s": 8.632620771, "wave": 1, "members": [2, 3]}
|
| 14 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673494.8996603, "t_invocation_s": 15.706310895, "wave": 1, "index": 2, "arrival": 0}
|
| 15 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673494.9118483, "t_invocation_s": 15.718498942, "wave": 1, "index": 3, "arrival": 1}
|
| 16 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673494.9412243, "t_invocation_s": 15.747875386, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
|
| 17 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673494.9679267, "t_invocation_s": 15.77457741, "wave": 1, "commit_order": [2, 3]}
|
| 18 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673494.969128, "t_invocation_s": 15.775778311, "wave": 2, "members": [4, 5], "occupancy": 2}
|
| 19 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673495.4222102, "t_invocation_s": 16.228861094, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.04364187712781131, "workspace_s": 0.25647036195732653, "objective_s": 0.005703086964786053, "stage_capture_s": 0.12319958815351129, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0069717830047011375, "complete_s": 0.017030452843755484}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.909598156809807e-05, "complete_s": 0.00023150700144469738}}, "total_s": 0.4027985769789666}, "object_springs": 14867, "controller_springs": 390}
|
| 20 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673495.8372777, "t_invocation_s": 16.643928256, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05045464402064681, "workspace_s": 0.20185911795124412, "objective_s": 0.00559168984182179, "stage_capture_s": 0.12806613114662468, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00720254797488451, "complete_s": 0.018098310800269246}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.461585432291031e-05, "complete_s": 0.00022109202109277248}}, "total_s": 0.3540345598012209}, "object_springs": 18542, "controller_springs": 1198}
|
| 21 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673495.8424368, "t_invocation_s": 16.649087453, "wave": 2, "members": [4, 5]}
|
| 22 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673503.5223043, "t_invocation_s": 24.328954857, "wave": 2, "index": 4, "arrival": 0}
|
| 23 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673503.5430503, "t_invocation_s": 24.34970095, "wave": 2, "index": 5, "arrival": 1}
|
| 24 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673503.569757, "t_invocation_s": 24.376408044, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
|
| 25 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673503.5967865, "t_invocation_s": 24.403437629, "wave": 2, "commit_order": [4, 5]}
|
| 26 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673503.5975084, "t_invocation_s": 24.404158936, "wave": 3, "members": [6, 7], "occupancy": 2}
|
| 27 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673504.0992246, "t_invocation_s": 24.905875207, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05513850809074938, "workspace_s": 0.28987638698890805, "objective_s": 0.005914018023759127, "stage_capture_s": 0.12639233004301786, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007122131995856762, "complete_s": 0.01797578693367541}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.045284241437912e-05, "complete_s": 0.0002164898905903101}}, "total_s": 0.4405765871051699}, "object_springs": 18516, "controller_springs": 1379}
|
| 28 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673504.4639406, "t_invocation_s": 25.27059144, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.03597046295180917, "workspace_s": 0.16599319805391133, "objective_s": 0.005808596964925528, "stage_capture_s": 0.12506355601362884, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.01127697597257793, "complete_s": 0.021024812012910843}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010810117237269878, "complete_s": 0.00023881718516349792}}, "total_s": 0.3183374418877065}, "object_springs": 13409, "controller_springs": 261}
|
| 29 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673504.4647007, "t_invocation_s": 25.271351262, "wave": 3, "members": [6, 7]}
|
| 30 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673511.9724212, "t_invocation_s": 32.779071977, "wave": 3, "index": 6, "arrival": 0}
|
| 31 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673511.9848664, "t_invocation_s": 32.791516696, "wave": 3, "index": 7, "arrival": 1}
|
| 32 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673512.0120087, "t_invocation_s": 32.818659677, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
|
| 33 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673512.0396917, "t_invocation_s": 32.846342426, "wave": 3, "commit_order": [6, 7]}
|
| 34 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673512.040524, "t_invocation_s": 32.8471746, "wave": 4, "members": [8, 9], "occupancy": 2}
|
| 35 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673512.4647787, "t_invocation_s": 33.271429493, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.03580950293689966, "workspace_s": 0.2347232650499791, "objective_s": 0.005790466908365488, "stage_capture_s": 0.12376984697766602, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008561250986531377, "complete_s": 0.01786325895227492}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010725297033786774, "complete_s": 0.00023660901933908463}}, "total_s": 0.38256927696056664}, "object_springs": 11243, "controller_springs": 824}
|
| 36 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673512.866089, "t_invocation_s": 33.672740012, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.04513390199281275, "workspace_s": 0.1923015678767115, "objective_s": 0.005943553987890482, "stage_capture_s": 0.1284821021836251, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008254381129518151, "complete_s": 0.018628176068887115}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010028015822172165, "complete_s": 0.00022882013581693172}}, "total_s": 0.3457576909568161}, "object_springs": 16343, "controller_springs": 639}
|
| 37 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673512.8712668, "t_invocation_s": 33.677917346, "wave": 4, "members": [8, 9]}
|
| 38 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673520.026832, "t_invocation_s": 40.833482898, "wave": 4, "index": 8, "arrival": 0}
|
| 39 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673520.0392358, "t_invocation_s": 40.84588623, "wave": 4, "index": 9, "arrival": 1}
|
| 40 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673520.069217, "t_invocation_s": 40.875867889, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
|
| 41 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673520.097426, "t_invocation_s": 40.904077044, "wave": 4, "commit_order": [8, 9]}
|
| 42 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673520.0984273, "t_invocation_s": 40.905078051, "wave": 5, "members": [10], "occupancy": 1}
|
| 43 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673520.5566275, "t_invocation_s": 41.363278106, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.04365354892797768, "workspace_s": 0.2583872058894485, "objective_s": 0.005859423195943236, "stage_capture_s": 0.1268910758662969, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007207739865407348, "complete_s": 0.017047558911144733}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010866601951420307, "complete_s": 0.0002405489794909954}}, "total_s": 0.4086308360565454}, "object_springs": 13751, "controller_springs": 1170}
|
| 44 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791673520.5619438, "t_invocation_s": 41.368594197, "wave": 5, "members": [10]}
|
| 45 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791673525.6946008, "t_invocation_s": 46.501251308, "wave": 5, "index": 10, "arrival": 0}
|
| 46 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791673525.6998231, "t_invocation_s": 46.506473699, "wave": 5, "drained": {"10": "drained"}}
|
| 47 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673525.7293692, "t_invocation_s": 46.536020069, "wave": 5, "commit_order": [10]}
|
| 48 |
+
{"invocation": 1, "kind": "told", "t_unix_s": 1791673525.731529, "t_invocation_s": 46.538179473, "generation": 6, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 72}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/strategy_after_ask.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f864373ea704ed930cb4ab52439531752f809612ab2994c161d1d2b427a97516
|
| 3 |
+
size 30741
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/strategy_after_tell.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d481503b95a5d5c5d101df8e742e1f6bdfba1ff06aedcdc34187f2e81e68547
|
| 3 |
+
size 27344
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g006/told.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"generation": 6,
|
| 3 |
+
"told_scores": [
|
| 4 |
+
0.0011848973286156296,
|
| 5 |
+
0.0013130742969194593,
|
| 6 |
+
0.0011324989936616113,
|
| 7 |
+
0.0012270321044163986,
|
| 8 |
+
0.0011880396245859037,
|
| 9 |
+
0.000988347691949931,
|
| 10 |
+
0.0009407782806235304,
|
| 11 |
+
0.0010836756169189492,
|
| 12 |
+
0.0013373384483717193,
|
| 13 |
+
0.0011230715134344918,
|
| 14 |
+
0.0012884008148660202
|
| 15 |
+
],
|
| 16 |
+
"physical_failures": 0,
|
| 17 |
+
"physical_failures_total": 0,
|
| 18 |
+
"issued_asks_total": 77,
|
| 19 |
+
"told_asks_total": 77,
|
| 20 |
+
"champion": {
|
| 21 |
+
"generation": 6,
|
| 22 |
+
"ask_index": 6,
|
| 23 |
+
"global_ask_index": 72,
|
| 24 |
+
"score": 0.0009407782806235304,
|
| 25 |
+
"observation_score": 0.0005096429650267053,
|
| 26 |
+
"normalized": [
|
| 27 |
+
0.5555677791420738,
|
| 28 |
+
0.6612521452650226,
|
| 29 |
+
0.9832371353631917,
|
| 30 |
+
0.5760778697470517,
|
| 31 |
+
0.6750310872408407,
|
| 32 |
+
0.4342390212183216,
|
| 33 |
+
0.0022586697155014697,
|
| 34 |
+
0.7244253959976455,
|
| 35 |
+
0.3568614294792469,
|
| 36 |
+
0.42206598064006673,
|
| 37 |
+
0.9948061914301178,
|
| 38 |
+
0.14647448619739095
|
| 39 |
+
],
|
| 40 |
+
"settings": {
|
| 41 |
+
"spring_y": 55556.77791420738,
|
| 42 |
+
"object_radius_m": 0.036450085810600906,
|
| 43 |
+
"object_max_neighbours": 49,
|
| 44 |
+
"controller_radius_m": 0.05032545088229362,
|
| 45 |
+
"controller_max_neighbours": 57,
|
| 46 |
+
"ground_restitution": 0.4342390212183216,
|
| 47 |
+
"ground_friction": 0.0045173394310029395,
|
| 48 |
+
"object_restitution": 0.7244253959976455,
|
| 49 |
+
"object_friction": 0.7137228589584939,
|
| 50 |
+
"collision_distance_m": 0.02688263922560267,
|
| 51 |
+
"drag_damping": 19.896123828602356,
|
| 52 |
+
"dashpot_damping": 29.29489723947819
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"pycma": {
|
| 56 |
+
"countiter": 7,
|
| 57 |
+
"countevals": 77,
|
| 58 |
+
"sigma": 0.20804420759817266
|
| 59 |
+
}
|
| 60 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8540a90937e411309c624c64fcc75c98ab759592ee4ecd227afd6d3d2d577f39
|
| 3 |
+
size 89310
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e016b26908246f6d0f0b036cf57b152ba741ab67163f506dd1fa4c062de7e06
|
| 3 |
+
size 400444
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a00/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 0,
|
| 5 |
+
"global_ask_index": 77,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.20453601663678228,
|
| 8 |
+
0.709949074807528,
|
| 9 |
+
0.9376164830735355,
|
| 10 |
+
0.7660676043744014,
|
| 11 |
+
0.8591404164611252,
|
| 12 |
+
0.3123701862994181,
|
| 13 |
+
0.3281837931953009,
|
| 14 |
+
0.4170457792942058,
|
| 15 |
+
0.5608393780543007,
|
| 16 |
+
0.26183204857953957,
|
| 17 |
+
0.951314701675366,
|
| 18 |
+
0.5108666279140346
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 20453.60166367823,
|
| 22 |
+
"object_radius_m": 0.038397962992301124,
|
| 23 |
+
"object_max_neighbours": 47,
|
| 24 |
+
"controller_radius_m": 0.0636247323062081,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.3123701862994181,
|
| 27 |
+
"ground_friction": 0.6563675863906018,
|
| 28 |
+
"object_restitution": 0.4170457792942058,
|
| 29 |
+
"object_friction": 1.1216787561086015,
|
| 30 |
+
"collision_distance_m": 0.020473281943181584,
|
| 31 |
+
"drag_damping": 19.02629403350732,
|
| 32 |
+
"dashpot_damping": 102.17332558280691
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 17795,
|
| 36 |
+
"controller_springs": 2073,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.03817855194211006
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.06361163407564163
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 262,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 1120,
|
| 50 |
+
"hand_B": 953
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.937732754042372,
|
| 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": 0.05482323584146798,
|
| 115 |
+
"workspace_s": 0.2081624809652567,
|
| 116 |
+
"objective_s": 0.005878292955458164,
|
| 117 |
+
"stage_capture_s": 0.12295820005238056,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008750505978241563,
|
| 123 |
+
"complete_s": 0.019495858112350106
|
| 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": 9.97448805719614e-05,
|
| 134 |
+
"complete_s": 0.00023767491802573204
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3569184460211545
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.871149360900745,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0010505770617925756,
|
| 144 |
+
"tell_score": 0.0010505770617925756,
|
| 145 |
+
"observation_score": 0.0007474219629439324,
|
| 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/g007/a00/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:82abdbc74112a6672a6796fb54ac0cfc4f0942be63c0b984f0742ff553636a2e
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc9748c1e22c74c6a4bd43973a6fdef52cba7ce01959036b24050da52f91e158
|
| 3 |
+
size 85174
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:131862bcaad542c5238ff3d1f6c984b4a58abd46c46233e5390fc3a984ebec8d
|
| 3 |
+
size 379828
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a01/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 1,
|
| 5 |
+
"global_ask_index": 78,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.7342409246718397,
|
| 8 |
+
0.6560724802791947,
|
| 9 |
+
0.9999880202223151,
|
| 10 |
+
0.31567398244494016,
|
| 11 |
+
0.508498674240275,
|
| 12 |
+
0.39194414297340185,
|
| 13 |
+
0.4340136846860639,
|
| 14 |
+
0.7840886855165651,
|
| 15 |
+
0.6095662299436542,
|
| 16 |
+
0.6137763532929569,
|
| 17 |
+
0.996862992554849,
|
| 18 |
+
0.25495101292064004
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 73424.09246718396,
|
| 22 |
+
"object_radius_m": 0.036242899211167794,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.03209717877114581,
|
| 25 |
+
"controller_max_neighbours": 45,
|
| 26 |
+
"ground_restitution": 0.39194414297340185,
|
| 27 |
+
"ground_friction": 0.8680273693721278,
|
| 28 |
+
"object_restitution": 0.7840886855165651,
|
| 29 |
+
"object_friction": 1.2191324598873083,
|
| 30 |
+
"collision_distance_m": 0.03455105413171827,
|
| 31 |
+
"drag_damping": 19.93725985109698,
|
| 32 |
+
"dashpot_damping": 50.990202584128006
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18512,
|
| 36 |
+
"controller_springs": 325,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.036240022629499435
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.03209477663040161
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 134,
|
| 47 |
+
"controls_without_attachment": 15,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 216,
|
| 50 |
+
"hand_B": 109
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.937732754042372,
|
| 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": 0.1426138139795512,
|
| 115 |
+
"workspace_s": 0.2030547650065273,
|
| 116 |
+
"objective_s": 0.005865595070645213,
|
| 117 |
+
"stage_capture_s": 0.12634414597414434,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.00853185192681849,
|
| 123 |
+
"complete_s": 0.019368765875697136
|
| 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": 9.552016854286194e-05,
|
| 134 |
+
"complete_s": 0.0002446211874485016
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3550376328639686
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.461745433975011,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.001017462327455639,
|
| 144 |
+
"tell_score": 0.001017462327455639,
|
| 145 |
+
"observation_score": 0.0004541004059143704,
|
| 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/g007/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dd1d05e52457a05343d36fda1cf665994289267a9e6f76c238bace97ffa0df30
|
| 3 |
+
size 2528862
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:972fa140a3b2ba3d0c917ff65d9d85f234472c600d0f5bd4cfbb9ce847e4fcdd
|
| 3 |
+
size 80142
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2d417fce9c9129dbb37f7a37b55850590ed035867cd0d206816b370035b4bc3
|
| 3 |
+
size 354644
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a02/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 2,
|
| 5 |
+
"global_ask_index": 79,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.577792048691169,
|
| 8 |
+
0.39664130038012224,
|
| 9 |
+
0.8157443322649636,
|
| 10 |
+
0.6697571700047402,
|
| 11 |
+
0.8112456929542963,
|
| 12 |
+
0.7611213249616204,
|
| 13 |
+
0.15633326066212755,
|
| 14 |
+
0.7443654858758296,
|
| 15 |
+
0.35576204548418544,
|
| 16 |
+
0.3572708767866822,
|
| 17 |
+
0.9298424785649007,
|
| 18 |
+
0.2176094280906232
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 57779.2048691169,
|
| 22 |
+
"object_radius_m": 0.02586565201520489,
|
| 23 |
+
"object_max_neighbours": 42,
|
| 24 |
+
"controller_radius_m": 0.05688300190033182,
|
| 25 |
+
"controller_max_neighbours": 66,
|
| 26 |
+
"ground_restitution": 0.7611213249616204,
|
| 27 |
+
"ground_friction": 0.3126665213242551,
|
| 28 |
+
"object_restitution": 0.7443654858758296,
|
| 29 |
+
"object_friction": 0.7115240909683709,
|
| 30 |
+
"collision_distance_m": 0.024290835071467287,
|
| 31 |
+
"drag_damping": 18.596849571298012,
|
| 32 |
+
"dashpot_damping": 43.52188561812464
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 15718,
|
| 36 |
+
"controller_springs": 1860,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.025854431092739105
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.056850891560316086
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 254,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 1022,
|
| 50 |
+
"hand_B": 838
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.610694671981037,
|
| 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": 0.04896148294210434,
|
| 115 |
+
"workspace_s": 0.19121439009904861,
|
| 116 |
+
"objective_s": 0.005840485915541649,
|
| 117 |
+
"stage_capture_s": 0.124887784011662,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008067804854363203,
|
| 123 |
+
"complete_s": 0.018324426840990782
|
| 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": 9.840610437095165e-05,
|
| 134 |
+
"complete_s": 0.00021581514738500118
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3406601690221578
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.496911593014374,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0010890593236457375,
|
| 144 |
+
"tell_score": 0.0010890593236457375,
|
| 145 |
+
"observation_score": 0.0006447015269735331,
|
| 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/g007/a02/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2cd6e775fd3a0d5ac6e9d4ea47dddfa72437f649def0f6f4240acbc02bd243d0
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2cdc9e21f476c85bb325791363970918b97c72942fd6514d07399b7c5406014c
|
| 3 |
+
size 84362
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d4d9a2ccedff3e49a3c4e298546db747ab8a6d9727676094bfb181cbad1e008d
|
| 3 |
+
size 375688
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a03/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 3,
|
| 5 |
+
"global_ask_index": 80,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.3793388810758164,
|
| 8 |
+
0.41331328928023403,
|
| 9 |
+
0.8977104087984712,
|
| 10 |
+
0.6517410317016087,
|
| 11 |
+
0.9144443776682505,
|
| 12 |
+
0.5120415979610735,
|
| 13 |
+
0.12239628044138945,
|
| 14 |
+
0.4712955396073483,
|
| 15 |
+
0.42268787214447234,
|
| 16 |
+
0.5979039009130828,
|
| 17 |
+
0.9660761258304968,
|
| 18 |
+
0.4224869051545696
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 37933.88810758164,
|
| 22 |
+
"object_radius_m": 0.026532531571209363,
|
| 23 |
+
"object_max_neighbours": 45,
|
| 24 |
+
"controller_radius_m": 0.05562187221911261,
|
| 25 |
+
"controller_max_neighbours": 74,
|
| 26 |
+
"ground_restitution": 0.5120415979610735,
|
| 27 |
+
"ground_friction": 0.2447925608827789,
|
| 28 |
+
"object_restitution": 0.4712955396073483,
|
| 29 |
+
"object_friction": 0.8453757442889447,
|
| 30 |
+
"collision_distance_m": 0.03391615603652331,
|
| 31 |
+
"drag_damping": 19.32152251660994,
|
| 32 |
+
"dashpot_damping": 84.49738103091391
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 16717,
|
| 36 |
+
"controller_springs": 1913,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.026496097445487976
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.05556992068886757
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 256,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 1058,
|
| 50 |
+
"hand_B": 855
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.610694671981037,
|
| 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": 0.13260363112203777,
|
| 115 |
+
"workspace_s": 0.1945605690125376,
|
| 116 |
+
"objective_s": 0.005712397862225771,
|
| 117 |
+
"stage_capture_s": 0.12252443097531796,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.006691803922876716,
|
| 123 |
+
"complete_s": 0.017232113052159548
|
| 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": 0.00011926214210689068,
|
| 134 |
+
"complete_s": 0.00026113400235772133
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3404645728878677
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.105216044932604,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000962637334056374,
|
| 144 |
+
"tell_score": 0.000962637334056374,
|
| 145 |
+
"observation_score": 0.0006040270177871766,
|
| 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/g007/a03/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d74550f0c5b2f82903934ff39cd37fb0764be79a443844684c907f6b353d73b
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:109ade7332e8948be70db4917c67584eaf21fa19bb4520b888dc957bfeda4e84
|
| 3 |
+
size 80442
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a16c34c8b2ec34034916e008da14ccfbc2f2c8b43c5072a9d082c57537a39ac0
|
| 3 |
+
size 355908
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a04/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 4,
|
| 5 |
+
"global_ask_index": 81,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.6987227127192304,
|
| 8 |
+
0.6583702230134749,
|
| 9 |
+
0.9073842133542973,
|
| 10 |
+
0.26416934516582513,
|
| 11 |
+
0.5629150840532594,
|
| 12 |
+
0.27837723120639973,
|
| 13 |
+
0.018774165996606827,
|
| 14 |
+
0.8508151798354935,
|
| 15 |
+
0.07161505871011906,
|
| 16 |
+
0.043669018376355416,
|
| 17 |
+
0.7409667910598537,
|
| 18 |
+
0.5523479332081314
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 69872.27127192303,
|
| 22 |
+
"object_radius_m": 0.036334808920538995,
|
| 23 |
+
"object_max_neighbours": 46,
|
| 24 |
+
"controller_radius_m": 0.02849185416160776,
|
| 25 |
+
"controller_max_neighbours": 49,
|
| 26 |
+
"ground_restitution": 0.27837723120639973,
|
| 27 |
+
"ground_friction": 0.037548331993213654,
|
| 28 |
+
"object_restitution": 0.8508151798354935,
|
| 29 |
+
"object_friction": 0.1432301174202381,
|
| 30 |
+
"collision_distance_m": 0.011746760735054217,
|
| 31 |
+
"drag_damping": 14.819335821197075,
|
| 32 |
+
"dashpot_damping": 110.46958664162628
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 17413,
|
| 36 |
+
"controller_springs": 228,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.03595172241330147
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.028442537412047386
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 112,
|
| 47 |
+
"controls_without_attachment": 18,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 156,
|
| 50 |
+
"hand_B": 72
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.867107856087387,
|
| 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": 0.049956216011196375,
|
| 115 |
+
"workspace_s": 0.2013032608665526,
|
| 116 |
+
"objective_s": 0.005986453033983707,
|
| 117 |
+
"stage_capture_s": 0.22004144499078393,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007177185034379363,
|
| 123 |
+
"complete_s": 0.017760684015229344
|
| 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": 9.193108417093754e-05,
|
| 134 |
+
"complete_s": 0.00022121891379356384
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.44552600802853703
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.780154269887134,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0010494124508706347,
|
| 144 |
+
"tell_score": 0.0010494124508706347,
|
| 145 |
+
"observation_score": 0.0004446855843568158,
|
| 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/g007/a04/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8f8e56004549f9ec47cc49a061a7613bd0936cfafa0547ec07f0450a8cf4f37
|
| 3 |
+
size 2528914
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fdf4f4163db3be55276a03e0f16bd35e77db6c3a515d5052f6e9c7fabe1f5eba
|
| 3 |
+
size 82874
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8314ae4ed6cc1047669c3fdade5dc2effb09c34100dc341ae56069fce5e01041
|
| 3 |
+
size 368148
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a05/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 7,
|
| 4 |
+
"ask_index": 5,
|
| 5 |
+
"global_ask_index": 82,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.32025746320840753,
|
| 8 |
+
0.8854840647387576,
|
| 9 |
+
0.95670931458834,
|
| 10 |
+
0.17636352118158005,
|
| 11 |
+
0.2547773946779203,
|
| 12 |
+
0.7427704057213074,
|
| 13 |
+
0.020340733909435214,
|
| 14 |
+
0.5302637945949852,
|
| 15 |
+
0.5321975545314592,
|
| 16 |
+
0.3836014673930554,
|
| 17 |
+
0.9168383063197387,
|
| 18 |
+
0.20924624368098035
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 32025.746320840753,
|
| 22 |
+
"object_radius_m": 0.04541936258955031,
|
| 23 |
+
"object_max_neighbours": 48,
|
| 24 |
+
"controller_radius_m": 0.022345446482710606,
|
| 25 |
+
"controller_max_neighbours": 27,
|
| 26 |
+
"ground_restitution": 0.7427704057213074,
|
| 27 |
+
"ground_friction": 0.04068146781887043,
|
| 28 |
+
"object_restitution": 0.5302637945949852,
|
| 29 |
+
"object_friction": 1.0643951090629185,
|
| 30 |
+
"collision_distance_m": 0.02534405869572222,
|
| 31 |
+
"drag_damping": 18.336766126394775,
|
| 32 |
+
"dashpot_damping": 41.849248736196074
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18177,
|
| 36 |
+
"controller_springs": 76,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.040119290351867676
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.022244984284043312
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 58,
|
| 47 |
+
"controls_without_attachment": 23,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 47,
|
| 50 |
+
"hand_B": 29
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 7.867107856087387,
|
| 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": 0.04860647697933018,
|
| 115 |
+
"workspace_s": 0.19848710601218045,
|
| 116 |
+
"objective_s": 0.005668397061526775,
|
| 117 |
+
"stage_capture_s": 0.12316003697924316,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007113885134458542,
|
| 123 |
+
"complete_s": 0.017761971103027463
|
| 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": 9.713787585496902e-05,
|
| 134 |
+
"complete_s": 0.0002470999024808407
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3454898970667273
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.28225953807123,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0029925005582023493,
|
| 144 |
+
"tell_score": 0.0029925005582023493,
|
| 145 |
+
"observation_score": 0.0027250953548965556,
|
| 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/g007/a05/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51a73410db5f4dbdae3a7c22340c8a1ce28427f445b72ce8a53e64989026ea17
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a06/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:61fd40d9ed2a6ceea793bef40e99b5a562938c88b3d6aa4bbef3fc349e29955a
|
| 3 |
+
size 83250
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g007/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aabd4f4335c81ee9a231ff749075138ac271951450669e35aecae8e5e02a037b
|
| 3 |
+
size 370132
|