sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923: package_final batch 1/1

sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/README.md

@@ -0,0 +1,35 @@
+# lab-a-initial-20260923
+
+First complete own REAL_RGBD tracking fit of session A: source CMA (100 generations) then source Adam (500 traversals) on fitting_run2 observations; BEST = FINAL = c0500. Historical: earlier inputs and clamp-at-use stiffness, distinct from the RT faithful run.
+
+| Field | Value |
+|---|---|
+| Status | complete |
+| Identity | session_id `session_20260921_225630_786148`, window_id `sync0402-0893` |
+| Parent | none recorded |
+| Stages | cma, adam |
+| Budget (completed/configured) | cma:  (completed_generations 100, issued_asks 1100, told_asks 1100, center_evaluations 1, physical_failures 0); adam: traversals 500/500, updates 245500/245500 |
+| Labels | BEST adam/c0500, FINAL adam/c0500 |
+| Code revision(s) | `0a0403f3a4d61e6b1316672a24b8a7e6371bec78`; dirty tree by stage: cma reported clean, adam reported clean |
+| Checkpoint rows | 4659 (`checkpoints.tsv`) |
+| Archived native records | 9,754 per-step history files in 25 tar archives (owner D25); `archives/members.json` lists each member's native path and sha256, and `checkpoints.tsv` still lists every checkpoint file |
+
+## Stages
+
+- **cma** (`native/cma/manifest.json`): "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))"
+- **adam** (`native/adam/manifest.json`): "R4 SourceWarpObjective stage adam: C + T, A never active, captured D_V = |V[1]|, D_M = |M[0]|"
+  - stiffness update: clamp at use only: this record predates or does not enable the projected update; the history is not reinterpreted as projected
+
+## Capabilities
+
+- **portable_use**: native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending
+- **interrupted_run_recovery**: native resume state retained; restore-only exists only for projected source Adam continuations, so it is not available for this clamp-at-use run; continued fitting is not demonstrated
+- **extend_completed_budget**: not supported: the native protocols refuse to extend a finished run's horizon
+- **full_reproduction**: not claimed (D3); dirty-state and environment limits are listed under code
+- **continuation_under_projected_update**: not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics
+
+## Limitations
+
+- historical depth: the run's records name no depth source or stream digest, so the consumed depth bytes and their publication revision are unresolved; correction ledgers replaced 4 depth paths of this session (6ce5a6472649, c9fa16c0c8ac)
+
+Native records under `native/` are authoritative; `run.json`, `checkpoints.tsv` and `dependencies.json` index them. License: see the repository `LICENSE` and card.

sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/dependencies.json

@@ -0,0 +1,141 @@
+{
+  "dataset_inputs": [
+    {
+      "cited_by": [
+        "native/status.json:input",
+        "native/adam/manifest.json:fitting_observations.path",
+        "native/cma/manifest.json:fitting_observations.path",
+        "native/preflight/identity.json:input",
+        "resume identity check of /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run2/fitting_observations.npz:model_io.source_input_identity"
+      ],
+      "class": "dataset_input",
+      "current_matches_recorded": true,
+      "current_sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+      "dataset": {
+        "artifact_blocked": false,
+        "dataset_plan": "/mnt/data0/magna/belt_perception_runs/phystwin_hf_backfill_op_20261031/plans/lab_pilot.json",
+        "path_in_repo": "sessions/session_20260921_225630_786148/preprocessing/original-tracks-run1/native/fitting_run2/fitting_observations.npz",
+        "repo_id": "DAIRLab/phystwin_dataset",
+        "revision": "f76eab150e0fc24035a7712036a57898139e3bb6",
+        "sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca"
+      },
+      "exists": true,
+      "is_dir": false,
+      "recorded_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run2/fitting_observations.npz",
+      "recorded_sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+      "session_id": "session_20260921_225630_786148",
+      "uses": [
+        "record",
+        "resume"
+      ]
+    }
+  ],
+  "depth_stream_identities": {
+    "depth_sources": [],
+    "rule": "recorded digests are authoritative; a dataset pin must resolve to these bytes, never to whatever the recorded path serves today",
+    "session_depth_corrections": [
+      {
+        "corrected_sha256": "a1d25bde77574146466ed40833940326229fdb6f130158baddb4d3a10095149d",
+        "description": "camera 17736741 stereo offset: WAFT depth regenerated (DAIRLab/phystwin_dataset 6ce5a647)",
+        "evidence": "docs/experiments/cam17736741_stereo_offset_20261016.md",
+        "ledger": "/mnt/data2/magna/belt_perception/results/cam17736741_stereo_offset_20261016/hf_upload_plan.json",
+        "original_sha256": "ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e",
+        "original_was_remote_at": "c8efd5c2607107d3d1c199dace51d31c91313cc9",
+        "path_in_repo": "sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth",
+        "replaced_at": "6ce5a64726490d50024fec32bca4bec2452bf3b5",
+        "repo_id": "DAIRLab/phystwin_dataset"
+      },
+      {
+        "corrected_sha256": "80f9c31528dee849644355c19456498542b15d30715f82f7e97aa2f453cba6cb",
+        "description": "stereo offsets of the other three ZEDs: 113 WAFT depth streams regenerated (DAIRLab/phystwin_dataset c9fa16c0)",
+        "evidence": "docs/experiments/zed_stereo_offsets_waft_regen_20261017.md",
+        "ledger": "/mnt/data2/magna/belt_perception/results/zed_stereo_offsets_20261017/hf_upload_plan.json",
+        "original_sha256": "5429f2cd45c93ad2f986e199cd8062f6e4c222943f5cbb5ab7946bbc866419f1",
+        "original_was_remote_at": "b61531e2f70d1ac2b507a94bedfd1a21942af918",
+        "path_in_repo": "sessions/session_20260921_225630_786148/videos/zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth",
+        "replaced_at": "c9fa16c0c8acfcfd61fa21470ed379947e165bcc",
+        "repo_id": "DAIRLab/phystwin_dataset"
+      },
+      {
+        "corrected_sha256": "e6b07d4e756e9b05896f68b58a90aa0126bbe0e5133916d2d653327cf7054f4a",
+        "description": "stereo offsets of the other three ZEDs: 113 WAFT depth streams regenerated (DAIRLab/phystwin_dataset c9fa16c0)",
+        "evidence": "docs/experiments/zed_stereo_offsets_waft_regen_20261017.md",
+        "ledger": "/mnt/data2/magna/belt_perception/results/zed_stereo_offsets_20261017/hf_upload_plan.json",
+        "original_sha256": "6ad35616256c371682b77f3bb716b6ef73bb465e0cf39406f91167f28630f11d",
+        "original_was_remote_at": "b61531e2f70d1ac2b507a94bedfd1a21942af918",
+        "path_in_repo": "sessions/session_20260921_225630_786148/videos/zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth",
+        "replaced_at": "c9fa16c0c8acfcfd61fa21470ed379947e165bcc",
+        "repo_id": "DAIRLab/phystwin_dataset"
+      },
+      {
+        "corrected_sha256": "e3267dd44f22ba986e7a595e2167a45d0829de27920735218b62656dccac933e",
+        "description": "stereo offsets of the other three ZEDs: 113 WAFT depth streams regenerated (DAIRLab/phystwin_dataset c9fa16c0)",
+        "evidence": "docs/experiments/zed_stereo_offsets_waft_regen_20261017.md",
+        "ledger": "/mnt/data2/magna/belt_perception/results/zed_stereo_offsets_20261017/hf_upload_plan.json",
+        "original_sha256": "ffb5bc058a27d7aa3c9342410533d9532b39a6b2b7eb8326acb942ccd0f4ed4f",
+        "original_was_remote_at": "b61531e2f70d1ac2b507a94bedfd1a21942af918",
+        "path_in_repo": "sessions/session_20260921_225630_786148/videos/zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth",
+        "replaced_at": "c9fa16c0c8acfcfd61fa21470ed379947e165bcc",
+        "repo_id": "DAIRLab/phystwin_dataset"
+      }
+    ],
+    "streams": []
+  },
+  "environment_references": [
+    {
+      "cited_by": [
+        "native/status.json:worktree"
+      ],
+      "class": "environment",
+      "exists": false,
+      "is_dir": false,
+      "recorded_path": "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923",
+      "recorded_sha256": null,
+      "uses": [
+        "record"
+      ]
+    }
+  ],
+  "external_records": [
+    {
+      "cited_by": [
+        "native/status.json:audit_readiness.report"
+      ],
+      "class": "external_record",
+      "exists": false,
+      "is_dir": false,
+      "recorded_path": "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923/docs/experiments/phystwin_real_rgbd_single_trajectory.md",
+      "recorded_sha256": null,
+      "uses": [
+        "record"
+      ]
+    }
+  ],
+  "input_bundle_references": [],
+  "input_bundles": [],
+  "model_parents": [],
+  "model_run_references": [],
+  "notes": [
+    "recorded_path values are the paths written in native records at fit time; they are evidence, not download locations",
+    "uses: 'record' = cited by a packaged native record; 'resume' = read by the existing resume identity checks (real_rgbd.model_io.source_input_identity), needed only to continue the fit"
+  ],
+  "packaged_evidence": [],
+  "resolution": {
+    "dataset_revision": "f76eab150e0fc24035a7712036a57898139e3bb6",
+    "dataset_revisions": [
+      "f76eab150e0fc24035a7712036a57898139e3bb6"
+    ],
+    "not_published_inputs": 0,
+    "reason": "every dataset input is pinned to a reconciled dataset publication revision or is explicitly not published",
+    "status": "resolved",
+    "unmapped_dataset_inputs": 0,
+    "unmatched_unpublished_inputs": [],
+    "unpinned_dataset_inputs": 0
+  },
+  "run_id": "lab-a-initial-20260923",
+  "schema": "phystwin_model_dependencies_v1",
+  "third_party_weights": [],
+  "unpackaged_evidence_references": [],
+  "upstream_input_references": [],
+  "upstream_inputs": []
+}

sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/run.json

@@ -0,0 +1,580 @@
+{
+  "aliases": [
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/adam/snapshots/c0500/model/model.npz",
+      "path": "native/adam/BEST/model/model.npz",
+      "relation": "byte export",
+      "role": "BEST"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/adam/snapshots/c0500/model/topology.npz",
+      "path": "native/adam/BEST/model/topology.npz",
+      "relation": "byte export",
+      "role": "BEST"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/adam/snapshots/c0500/model/model.npz",
+      "path": "native/adam/FINAL/model/model.npz",
+      "relation": "byte export",
+      "role": "FINAL"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/adam/snapshots/c0500/model/topology.npz",
+      "path": "native/adam/FINAL/model/topology.npz",
+      "relation": "byte export",
+      "role": "FINAL"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/cma/generations/g090/a03/model/model.npz",
+      "path": "native/cma/winner/model/model.npz",
+      "relation": "byte copy of the committed ask (cma._stage_winner)",
+      "role": "CMA winner"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/cma/generations/g090/a03/model/topology.npz",
+      "path": "native/cma/winner/model/topology.npz",
+      "relation": "byte copy of the committed ask (cma._stage_winner)",
+      "role": "CMA winner"
+    }
+  ],
+  "archived_native_records": {
+    "archives": 25,
+    "history_archives": 25,
+    "history_members": 9754,
+    "index": "archives/members.json",
+    "member_bytes": 5640389415,
+    "members": 9754,
+    "rule": "Owner decision D25 (2026-11-01): the Hub refuses repositories above 20,000 files, so this run's per-step history (CMA generations and candidates, Adam snapshots, continuation states, update rows and frozen scores; or Deform360 pass states, records and scores) is published inside these uncompressed tar archives, up to 256 MiB of members each. Member bytes are unchanged and checkpoints.tsv still lists every file with its sha256; extract each member to <run dir>/native/<member> to restore the native layout (scripts/phystwin_publish.py fetch extracts the members a checkpoint needs, and --all-checkpoints extracts all)."
+  },
+  "capabilities": {
+    "continuation_under_projected_update": "not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics",
+    "extend_completed_budget": "not supported: the native protocols refuse to extend a finished run's horizon",
+    "full_reproduction": "not claimed (D3); dirty-state and environment limits are listed under code",
+    "interrupted_run_recovery": "native resume state retained; restore-only exists only for projected source Adam continuations, so it is not available for this clamp-at-use run; continued fitting is not demonstrated",
+    "portable_use": "native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending"
+  },
+  "checkpoints": {
+    "counts": {
+      "adam_continuation": 2950,
+      "adam_traversal_snapshot": 501,
+      "cma_candidate": 1100,
+      "cma_center": 1,
+      "cma_generation_state": 100,
+      "cma_to_adam_handoff": 2,
+      "cma_winner": 1,
+      "model_initialization": 2,
+      "role_export": 2
+    },
+    "rows": 4659,
+    "table": "checkpoints.tsv"
+  },
+  "code": {
+    "belt_perception_commits": [
+      "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+    ],
+    "dirty_reported": false,
+    "limitations": [],
+    "observations": [
+      {
+        "key": "code_revision",
+        "scope": "cma",
+        "source": "native/cma/manifest.json",
+        "value": {
+          "dirty": false,
+          "head": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+        }
+      },
+      {
+        "key": "code_revision",
+        "scope": "adam",
+        "source": "native/adam/manifest.json",
+        "value": {
+          "dirty": false,
+          "head": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+        }
+      }
+    ],
+    "stages": {
+      "adam": {
+        "belt_perception_commits": [
+          "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+        ],
+        "dirty_reported": false,
+        "sources": [
+          "native/adam/manifest.json:code_revision"
+        ]
+      },
+      "cma": {
+        "belt_perception_commits": [
+          "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+        ],
+        "dirty_reported": false,
+        "sources": [
+          "native/cma/manifest.json:code_revision"
+        ]
+      }
+    }
+  },
+  "description": "First complete own REAL_RGBD tracking fit of session A: source CMA (100 generations) then source Adam (500 traversals) on fitting_run2 observations; BEST = FINAL = c0500. Historical: earlier inputs and clamp-at-use stiffness, distinct from the RT faithful run.",
+  "environment": {
+    "native/adam/manifest.json:device_name": "NVIDIA GeForce RTX 4090",
+    "native/adam/manifest.json:versions": {
+      "cma": "4.4.4",
+      "numpy": "2.4.4",
+      "open3d": "0.19.0",
+      "torch": "2.11.0+cu128",
+      "warp-lang": "1.16.0"
+    },
+    "native/cma/manifest.json:execution_identity": {
+      "belt_perception_source": {
+        "files": 777,
+        "sha256": "8ed07f17080b467930c4c66280f3e69000afc3f1b16d54b98c5746a0e8c8f89e"
+      },
+      "device_name": "NVIDIA GeForce RTX 4090",
+      "python": "3.11.14",
+      "torch_cuda": "12.8",
+      "versions": {
+        "cma": "4.4.4",
+        "numpy": "2.4.4",
+        "open3d": "0.19.0",
+        "torch": "2.11.0+cu128",
+        "warp-lang": "1.16.0"
+      }
+    }
+  },
+  "evidence_files": [],
+  "family": "real_rgbd_npz",
+  "gaps": [],
+  "identity": {
+    "session_id": "session_20260921_225630_786148",
+    "window_id": "sync0402-0893"
+  },
+  "inputs": [
+    {
+      "preprocessing": "fitting_run2 derived observations (see dependencies.json)",
+      "role": "fitting window",
+      "session_id": "session_20260921_225630_786148",
+      "window_id": "sync0402-0893"
+    }
+  ],
+  "labels": {
+    "BEST": {
+      "key": "best_candidate",
+      "metric": "independent frozen C + T replay (mean over K); lowest finite, earliest candidate on exact ties",
+      "score": 0.0003382159752312829,
+      "source": "native/adam/best.json",
+      "status": "final",
+      "value": "adam/c0500"
+    },
+    "FINAL": {
+      "key": "candidate",
+      "score": 0.0003382159752312829,
+      "source": "native/adam/FINAL/selection.json",
+      "value": "adam/c0500"
+    }
+  },
+  "license": {
+    "attribution": null,
+    "id": "mit",
+    "scope": "MIT (owner decision D9) applies to the project-produced fit packages in this repository: native checkpoints, run records and the generated metadata. It does not relicense the linked DAIRLab/phystwin_dataset recordings, which declare no license, or any third-party code or data."
+  },
+  "limitations": [
+    "historical depth: the run's records name no depth source or stream digest, so the consumed depth bytes and their publication revision are unresolved; correction ledgers replaced 4 depth paths of this session (6ce5a6472649, c9fa16c0c8ac)"
+  ],
+  "native_files": {
+    "bytes": 5894472630,
+    "files": 10022
+  },
+  "native_reconciliation": {
+    "included_by_category": {
+      "adam_continuation": {
+        "bytes": 1384424536,
+        "files": 2950
+      },
+      "adam_role_export": {
+        "bytes": 2214393,
+        "files": 8
+      },
+      "adam_snapshot": {
+        "bytes": 420521873,
+        "files": 1503
+      },
+      "cma_candidate": {
+        "bytes": 3828678503,
+        "files": 4400
+      },
+      "cma_center_winner": {
+        "bytes": 33222121,
+        "files": 8
+      },
+      "cma_generation_state": {
+        "bytes": 6171263,
+        "files": 400
+      },
+      "frozen_score": {
+        "bytes": 593240,
+        "files": 501
+      },
+      "handoff": {
+        "bytes": 40830513,
+        "files": 8
+      },
+      "log": {
+        "bytes": 80660,
+        "files": 7
+      },
+      "post_fit_replay": {
+        "bytes": 95011035,
+        "files": 9
+      },
+      "preflight_evidence": {
+        "bytes": 82022652,
+        "files": 209
+      },
+      "run_record": {
+        "bytes": 27814,
+        "files": 10
+      },
+      "stage_record": {
+        "bytes": 674027,
+        "files": 9
+      }
+    },
+    "included_files": 10022,
+    "not_selected": {
+      "Python bytecode cache of task scripts": {
+        "bytes": 20653,
+        "examples": [
+          "__pycache__/continue_campaign.cpython-311.pyc",
+          "__pycache__/qualify_handoff.cpython-311.pyc",
+          "__pycache__/status_monitor.cpython-311.pyc"
+        ],
+        "files": 3
+      },
+      "post-hoc frozen-score evaluation trajectory; its scores remain in evaluations/*/result.json and best.json": {
+        "bytes": 7282524288,
+        "examples": [
+          "adam/evaluations/c0000/rollout.npz",
+          "adam/evaluations/c0001/rollout.npz",
+          "adam/evaluations/c0002/rollout.npz"
+        ],
+        "files": 501
+      },
+      "telemetry journal for W&B delivery; no telemetry process owns scientific state": {
+        "bytes": 9229025456,
+        "examples": [
+          "adam/telemetry_producers/i001.jsonl",
+          "adam/telemetry_producers/i001_u000000010.npz",
+          "adam/telemetry_producers/i001_u000000020.npz"
+        ],
+        "files": 25064
+      }
+    },
+    "source_files": 35590,
+    "unclassified": [],
+    "unclassified_files": 0
+  },
+  "notes": [
+    "preflight/ is this production run's actual-path smoke and handoff qualification (README.md); it is evidence, not a checkpoint of this run."
+  ],
+  "parent": {
+    "declared": null,
+    "native": null,
+    "verified": null
+  },
+  "relocation": {
+    "path_in_repo": "sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native",
+    "recorded_aliases": [],
+    "recorded_root": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923",
+    "resolved_root": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923",
+    "rule": "native/<path relative to the recorded root>; native records keep recorded paths"
+  },
+  "repo_id": "DAIRLab/phystwin_models",
+  "run_id": "lab-a-initial-20260923",
+  "schema": "phystwin_model_run_v1",
+  "stages": [
+    {
+      "active_coordinates": {
+        "key": "protocol.coordinates minus inactive",
+        "source": "native/cma/manifest.json",
+        "value": [
+          "spring_y",
+          "object_radius_m",
+          "object_max_neighbours",
+          "controller_radius_m",
+          "controller_max_neighbours",
+          "ground_restitution",
+          "ground_friction",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "budget": {
+        "completed": {
+          "center_evaluations": {
+            "key": "center_evaluations",
+            "source": "native/cma/result.json",
+            "value": 1
+          },
+          "completed_generations": {
+            "key": "completed_generations",
+            "source": "native/cma/result.json",
+            "value": 100
+          },
+          "issued_asks": {
+            "key": "issued_asks",
+            "source": "native/cma/result.json",
+            "value": 1100
+          },
+          "physical_failures": {
+            "key": "physical_failures",
+            "source": "native/cma/result.json",
+            "value": 0
+          },
+          "status": {
+            "key": "status",
+            "source": "native/cma/result.json",
+            "value": "winner"
+          },
+          "stop_reason": {
+            "key": "stop_reason",
+            "source": "native/cma/result.json",
+            "value": "max_generations"
+          },
+          "told_asks": {
+            "key": "told_asks",
+            "source": "native/cma/result.json",
+            "value": 1100
+          }
+        },
+        "configured": {
+          "generations": {
+            "key": "protocol.max_generations",
+            "source": "native/cma/manifest.json",
+            "value": 100
+          }
+        }
+      },
+      "inactive_coordinates": {
+        "key": "protocol.object_collision",
+        "meaning": "sampled and decoded by CMA but without effect on the score, so their champion values are not constrained by the fit",
+        "recorded": "inactive (self_collision=False, no object masks); its three coordinates have no effect",
+        "source": "native/cma/manifest.json",
+        "value": [
+          "object_restitution",
+          "object_friction",
+          "collision_distance_m"
+        ]
+      },
+      "kind": "source_cma",
+      "manifest": "native/cma/manifest.json",
+      "objective": {
+        "key": "protocol.score",
+        "source": "native/cma/manifest.json",
+        "value": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))"
+      },
+      "schema": "real_rgbd_source_cma_run_v1",
+      "searched_coordinates": {
+        "key": "protocol.coordinates",
+        "source": "native/cma/manifest.json",
+        "value": [
+          "spring_y",
+          "object_radius_m",
+          "object_max_neighbours",
+          "controller_radius_m",
+          "controller_max_neighbours",
+          "ground_restitution",
+          "ground_friction",
+          "object_restitution",
+          "object_friction",
+          "collision_distance_m",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "settings": {
+        "backend": {
+          "key": "strategy.backend_id",
+          "source": "native/cma/manifest.json",
+          "value": null
+        },
+        "dimension": {
+          "key": "strategy.dimension",
+          "source": "native/cma/manifest.json",
+          "value": null
+        },
+        "initial_sigma": {
+          "key": "strategy.initial_sigma",
+          "source": "native/cma/manifest.json",
+          "value": null
+        },
+        "population_size": {
+          "key": "strategy.population_size",
+          "source": "native/cma/manifest.json",
+          "value": null
+        },
+        "seed": {
+          "key": "strategy.seed",
+          "source": "native/cma/manifest.json",
+          "value": null
+        },
+        "stopping": {
+          "key": "protocol.stopping",
+          "source": "native/cma/manifest.json",
+          "value": "es.stop() at every loop head, honoured after the first generation; else max_generations"
+        }
+      },
+      "stage": "cma",
+      "supervision": {
+        "key": "supervision",
+        "source": "native/cma/manifest.json",
+        "value": null
+      }
+    },
+    {
+      "best_metric": {
+        "key": "protocol.best_metric",
+        "source": "native/adam/manifest.json",
+        "value": "independent frozen C + T replay (mean over K); lowest finite, earliest candidate on exact ties"
+      },
+      "budget": {
+        "completed": {
+          "traversals": {
+            "key": "complete_traversals",
+            "source": "native/adam/training_complete.json",
+            "value": 500
+          },
+          "updates": {
+            "key": "total_updates",
+            "source": "native/adam/training_complete.json",
+            "value": 245500
+          }
+        },
+        "configured": {
+          "traversals": {
+            "key": "protocol.complete_traversals",
+            "source": "native/adam/manifest.json",
+            "value": 500
+          },
+          "updates": {
+            "key": "protocol.planned_updates",
+            "source": "native/adam/manifest.json",
+            "value": 245500
+          },
+          "updates_per_traversal": {
+            "key": "protocol.updates_per_traversal",
+            "source": "native/adam/manifest.json",
+            "value": 491
+          }
+        }
+      },
+      "manifest": "native/adam/manifest.json",
+      "objective": {
+        "key": "protocol.objective",
+        "source": "native/adam/manifest.json",
+        "value": "R4 SourceWarpObjective stage adam: C + T, A never active, captured D_V = |V[1]|, D_M = |M[0]|"
+      },
+      "optimizer": {
+        "betas": {
+          "key": "protocol.betas",
+          "source": "native/adam/manifest.json",
+          "value": [
+            0.9,
+            0.99
+          ]
+        },
+        "eps": {
+          "key": "protocol.eps",
+          "source": "native/adam/manifest.json",
+          "value": 1e-08
+        },
+        "lr": {
+          "key": "protocol.lr",
+          "source": "native/adam/manifest.json",
+          "value": 0.001
+        },
+        "optimizer": {
+          "key": "protocol.optimizer",
+          "source": "native/adam/manifest.json",
+          "value": "torch.optim.Adam"
+        },
+        "scheduler": {
+          "key": "protocol.scheduler",
+          "source": "native/adam/manifest.json",
+          "value": null
+        },
+        "weight_decay": {
+          "key": "protocol.weight_decay",
+          "source": "native/adam/manifest.json",
+          "value": 0.0
+        }
+      },
+      "parameters": {
+        "fixed": {
+          "key": "protocol.frozen",
+          "source": "native/adam/manifest.json",
+          "value": [
+            "topology",
+            "rests",
+            "masses",
+            "attachments",
+            "drag",
+            "dashpot",
+            "collision_distance",
+            "clock",
+            "initialization"
+          ]
+        },
+        "inactive_leaves": {
+          "key": "protocol.inactive_leaves",
+          "source": "native/adam/manifest.json",
+          "value": [
+            "raw_object_restitution",
+            "raw_object_friction"
+          ]
+        },
+        "optimizer_leaves": {
+          "key": "protocol.leaves",
+          "source": "native/adam/manifest.json",
+          "value": [
+            "log_spring_y",
+            "raw_ground_restitution",
+            "raw_ground_friction",
+            "raw_object_restitution",
+            "raw_object_friction"
+          ]
+        }
+      },
+      "schema": "real_rgbd_source_adam_run_v1",
+      "seed": {
+        "reason": "the Adam stage records no random seed; its traversal order is chronological",
+        "searched": [
+          "native/adam/manifest.json"
+        ],
+        "value": null
+      },
+      "stage": "adam",
+      "stiffness_update": {
+        "key": "protocol.projected_log_y",
+        "source": "native/adam/manifest.json",
+        "value": "clamp at use only: this record predates or does not enable the projected update; the history is not reinterpreted as projected"
+      }
+    }
+  ],
+  "status": {
+    "completion_evidence": [
+      "native/adam/training_complete.json",
+      "native/adam/best.json",
+      "native/cma/result.json"
+    ],
+    "label": "complete",
+    "note": null
+  },
+  "unknowns": []
+}