sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 1/173

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/adam_checks.json

@@ -0,0 +1,30 @@
+{
+  "complete": true,
+  "updates": 245500,
+  "traversals": 500,
+  "snapshots": 501,
+  "original_frozen_outcomes": {
+    "finite": 501
+  },
+  "evaluation": {
+    "expected_candidates": 501,
+    "produced": 501,
+    "completed": 501,
+    "pending": [],
+    "claimed": [],
+    "unresolved_errors": [],
+    "lag_candidates": 0,
+    "latest_produced": 500,
+    "training_updates": 245500,
+    "training_complete": true
+  },
+  "best_candidate": 489,
+  "best_score": 0.00010285475094816429,
+  "final_score": 0.00016558452843593114,
+  "continuations": 2950,
+  "projection_log_cap": 11.512925148010254,
+  "max_saved_raw_log_y": 11.512925148010254,
+  "saved_cap_entries": 3438310,
+  "moment_evidence": "Five source Adam step counters, finite moments and unchanged hyperparameters in every saved continuation; projection code and focused regression establish that projection leaves moments untouched. Intervening full spring gradients are not saved, so historical moment values are not independently recomputed.",
+  "parent_reader": "ParentBinding"
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/cma_checks.json

@@ -0,0 +1,66 @@
+{
+  "fresh": true,
+  "execution_revision": "2b53aa2040ed159d13894732a7eb6e56e530bfe0",
+  "native_stop": {},
+  "stop_reason": "max_generations",
+  "completed_generations": 250,
+  "told_asks": 2750,
+  "physical_failures": 0,
+  "champion": {
+    "generation": 249,
+    "ask_index": 9,
+    "global_ask_index": 2748,
+    "score": 0.0008530962211607439,
+    "observation_score": 0.0004923070377924872,
+    "normalized": [
+      0.4145374123283376,
+      0.999965649689177,
+      0.9982006403079239,
+      0.5071280729870828,
+      0.8636390679221817,
+      0.7224742102231663,
+      0.3509487374873799,
+      0.63571744135177,
+      0.1593626577423345,
+      0.8435955415292765,
+      0.999996876351164,
+      0.9999999747560071
+    ],
+    "settings": {
+      "spring_y": 41453.74123283376,
+      "object_radius_m": 0.04999862598756708,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.045498965109095804,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7224742102231663,
+      "ground_friction": 0.7018974749747598,
+      "object_restitution": 0.63571744135177,
+      "object_friction": 0.318725315484669,
+      "collision_distance_m": 0.043743821661171065,
+      "drag_damping": 19.999937527023278,
+      "dashpot_damping": 199.99999495120142
+    }
+  },
+  "winner": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma/winner/model",
+  "handoff": {
+    "passed": false,
+    "report": "handoff/report.json",
+    "frozen_observation_score": 0.0004923070573086505,
+    "acceptance": {
+      "policy": "rt_atomic_single_realization_v1",
+      "owner_basis": "RT-D10 owner decision 2026-09-29; phystwin_real_rgbd_waft_tapnextpp_refit_plan \u00a77.4",
+      "accepted": true
+    },
+    "numerical_status": "finite_independent_realization_disagreement"
+  },
+  "native_reader_identity": {
+    "winner_model_sha256": "7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb",
+    "winner_topology_sha256": "bb4dd13bdfaa127174fc8c34d3eb55ef9fd10427a4eac694ca579cba4239efa6",
+    "model_init_sha256": "52afd51ea6e81b548921caac77c6ae5d05a0498f86429fc656b4c5f31a483549",
+    "handoff_report_sha256": "1ab672747fecf9dc94f763f552f48fb5691964fed72834971aaa3ee4e8ee560b",
+    "handoff_frozen_rollout_sha256": "411204ede76b4543fc97bb65436cc433395892ae97d9b0fa12de5021bcba2201",
+    "handoff_passed": false,
+    "handoff_policy": "rt_atomic_single_realization_v1"
+  },
+  "checks": "new strategy counters, original issued arrays/records, complete tells, unchanged CMA transaction, earliest original minimum, native handoff reader"
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/execute_task.py

@@ -0,0 +1,46 @@
+"""Task invocation sequence; science stays in the existing CLI owners."""
+import json
+import os
+from pathlib import Path
+import subprocess
+import sys
+import time
+
+ROOT = Path(__file__).resolve().parent
+CONFIG = json.loads((ROOT / 'run_config.json').read_text())
+CWD = Path(CONFIG['cwd'])
+FULL = Path(CONFIG['full_root'])
+SESSION = Path('/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148')
+DELIVERY = ROOT / 'delivery'
+CACHE = SESSION / 'observation_cache/v1_0058966e635f5429'
+PYTHON = CONFIG['python']
+
+def run(stage, argv):
+    state = dict(stage=stage, status='running', argv=[str(v) for v in argv], started_unix_s=time.time())
+    (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2))
+    with (ROOT / (stage + '.log')).open('a') as log:
+        result = subprocess.run(state['argv'], cwd=CWD, stdout=log, stderr=subprocess.STDOUT)
+    state.update(status='complete' if result.returncode == 0 else 'failed', exit_status=result.returncode, finished_unix_s=time.time())
+    (ROOT / (stage + '_state.json')).write_text(json.dumps(state, indent=2))
+    (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2))
+    if result.returncode:
+        raise SystemExit(result.returncode)
+
+run('tracking', [FULL / 'launch_rt5.sh', 'start'])
+attempt = json.loads(sorted((FULL / 'attempts').glob('*.json'))[-1].read_text())
+assert attempt['status'] == 'science_complete', attempt
+assert attempt['evaluation']['completed'] == 501, attempt['evaluation']
+DELIVERY.mkdir(exist_ok=False)
+run('best_inputs', [PYTHON, 'scripts/real_rgbd_photometric_inputs.py', '--result-root', SESSION,
+    '--rt-fit-run', FULL, '--rt-binding', DELIVERY / 'scan/canonical_binding.npz',
+    '--rt-baseline', DELIVERY / 'tracking_best_p0', '--observation-cache', CACHE, '--out', DELIVERY / 'best_inputs'])
+run('scan', [PYTHON, '-u', 'scripts/real_rgbd_tracking_photometric_scan.py', '--result-root', SESSION,
+    '--rt-contract', DELIVERY / 'best_inputs/contract.json', '--observations', 'cache', '--observation-cache', CACHE,
+    '--device', 'cuda:0', '--out', DELIVERY / 'scan'])
+run('binding_review', [PYTHON, 'scripts/diagnostics/real_rgbd_rp4_binding.py', '--rt-fit-run', FULL,
+    '--rt-contract', DELIVERY / 'scan/contract.json', '--rp3-run', SESSION / 'appearance_rp3_train_20260927',
+    '--device', 'cuda:0', '--out', DELIVERY / 'reference_binding'])
+run('appearance_review', [PYTHON, 'scripts/real_rgbd_render_baseline.py', '--result-root', SESSION,
+    '--rt-contract', DELIVERY / 'scan/contract.json', '--out', DELIVERY / 'scan/selected_parent_p0',
+    '--device', 'cuda:0', '--review'])
+(ROOT / 'task_state.json').write_text(json.dumps(dict(stage='delivery',status='complete',finished_unix_s=time.time()),indent=2))

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/focused_tests.log

@@ -0,0 +1,161 @@
+Agent preflight summary
+  execution_environment: local
+  pwd:              /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+  git_root:         /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+  branch:           cursor/rt_faithful_track_20261010
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/rt_faithful_track_20261010
+  marker.environment:     local
+  marker.canonical_path:  /home/magna/belt_perception
+  marker.worktree_path:   /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+  marker.base_commit:     c0d29d71d3cbe17485a558ecd3a748e60ce70ace
+  marker.created_at:      2026-10-10T22:54:41Z
+  resolved.canonical:     /home/magna/belt_perception
+  resolved.worktree_root: /mnt/data0/magna
+  resolved.data_root:     /mnt/data2/magna
+  resolved.shared_root:   /mnt/data2/magna/belt_perception_shared
+  resolved.run_root:      /tmp/belt_perception_runs
+  resolved.scratch_root:  /tmp
+  resolved.transfer_root: /mnt/data2/magna/belt_perception_transfers
+  resolved.uv_cache_root: /home/magna/.cache/uv
+  worktree status:
+    ## cursor/rt_faithful_track_20261010
+  canonical status (/home/magna/belt_perception):
+    ## main...origin/main
+     m co-tracker
+     ? mvtracker
+
+Preflight passed. Safe to edit in this worktree.
+
+== Execution Environment ==
+OK    execution environment: local
+INFO  project_root: /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+INFO  canonical_repo_path: /home/magna/belt_perception
+INFO  agent_worktree_root: /mnt/data0/magna
+INFO  data_root: /mnt/data2/magna
+INFO  shared_root: /mnt/data2/magna/belt_perception_shared
+INFO  run_root: /tmp/belt_perception_runs
+INFO  scratch_root: /tmp
+INFO  transfer_root: /mnt/data2/magna/belt_perception_transfers
+INFO  uv_cache_root: /home/magna/.cache/uv
+INFO  peer_ssh_alias: login.betty.parcc.upenn.edu
+
+== Repository ==
+INFO  repo root: /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+INFO  branch: cursor/rt_faithful_track_20261010
+INFO  linked git worktree: yes
+OK    git status is clean
+
+== Submodules ==
+INFO  gitlink paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth
+INFO  .gitmodules paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth
+OK    all gitlinks are present in .gitmodules
+OK    all .gitmodules paths have gitlinks
+INFO  initialized submodule co-tracker: branch=detached@82e02e8, HEAD=82e02e8029753ad4ef13cf06be7f4fc5facdda4d, dirty=0, origin=https://github.com/facebookresearch/co-tracker.git, expected=https://github.com/facebookresearch/co-tracker.git, remote_match=yes
+OK    submodule co-tracker: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule segment-anything-2: branch=detached@969dad5, HEAD=969dad578a42d4c75624f87821497d37aabfbe99, dirty=0, origin=https://github.com/leonmkim/segment-anything-2.git, expected=https://github.com/leonmkim/segment-anything-2.git, remote_match=yes
+OK    submodule segment-anything-2: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule splinebox: branch=detached@6edb17e, HEAD=6edb17ef22b40176f66d31c57621105067815a2e, dirty=0, origin=https://github.com/leonmkim/splinebox.git, expected=https://github.com/leonmkim/splinebox.git, remote_match=yes
+OK    submodule splinebox: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/newton: branch=detached@5f4656cd, HEAD=5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0, dirty=0, origin=https://github.com/leonmkim/newton.git, expected=https://github.com/leonmkim/newton.git, remote_match=yes
+OK    submodule third_party/newton: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/phystwin: branch=detached@41aa14f, HEAD=41aa14f2c554bca7faeef1e807e0651e54a53f7c, dirty=0, origin=https://github.com/leonmkim/PhysTwin.git, expected=https://github.com/leonmkim/PhysTwin.git, remote_match=yes
+OK    submodule third_party/phystwin: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/phystwin_original: branch=detached@81c7187, HEAD=81c718790a37e5e0102eb77af2c6edd34a9db25f, dirty=0, origin=https://github.com/Jianghanxiao/PhysTwin.git, expected=https://github.com/Jianghanxiao/PhysTwin.git, remote_match=yes
+OK    submodule third_party/phystwin_original: clean detached HEAD (accepted for read-only/pytest validation)
+INFO  initialized submodule third_party/zdepth: branch=detached@abc01e7, HEAD=abc01e77ed5a905fbd87c2f011cfcf50653cfbda, dirty=0, origin=https://github.com/catid/Zdepth.git, expected=https://github.com/catid/Zdepth.git, remote_match=yes
+OK    submodule third_party/zdepth: clean detached HEAD (accepted for read-only/pytest validation)
+OK    git submodule status --recursive completed
+      -90d1df57d124b3dd2bcb590e3cae9809a15c9a82 3D-ViTac_Tactile_Hardware
+      -a23607edae8287bd450df17a5ab54f6daf841550 Fast-FoundationStereo
+      -f1b1e19966a206034db1d04ae983dd3dcfb720f5 FoundationStereo
+       82e02e8029753ad4ef13cf06be7f4fc5facdda4d co-tracker (v1.0-32-g82e02e8)
+      -ddc16cd85754ea3d3f61dd053de206e34c489101 models
+      -b6f6430dcdad56d6e61c8cec00323b3452334c86 mvtracker
+       969dad578a42d4c75624f87821497d37aabfbe99 segment-anything-2 (remotes/origin/online_main)
+       6edb17ef22b40176f66d31c57621105067815a2e splinebox (v0.5.1-99-g6edb17e)
+      -bbac2ecb74c403c6f759f6a7cddd819150c3afc5 task_board_urdf
+      -3b300a65a62be88984de7d6297c65f5bc7892aa4 third_party/MV-TAP
+      -c534320860f4bbb2c0df896e3ccb95de49284aec third_party/WAFT-Stereo
+      -d8522a4403b766aeb387510c04e89032a56fdf35 third_party/deform360
+       5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0 third_party/newton (v0.2.3-1049-g5f4656cd)
+       41aa14f2c554bca7faeef1e807e0651e54a53f7c third_party/phystwin (heads/main)
+       81c718790a37e5e0102eb77af2c6edd34a9db25f third_party/phystwin_original (heads/main)
+      -0648a2bb16f4dcb465039bde485208a173a747cb third_party/proj-QQTT
+      -454041f7eb110a3eeabf9743cd97f119ed91fb8e third_party/tapnet
+       abc01e77ed5a905fbd87c2f011cfcf50653cfbda third_party/zdepth (heads/master)
+INFO  profile minimal required submodules: co-tracker, segment-anything-2, splinebox, third_party/newton
+OK    submodule initialized: co-tracker
+OK    submodule initialized: segment-anything-2
+OK    submodule initialized: splinebox
+OK    submodule initialized: third_party/newton
+
+== Environment ==
+OK    .venv exists
+OK    .venv resolves inside this checkout
+OK    uv.lock exists
+OK    .envrc exists
+OK    PyZED wheel exists at repo root: pyzed-5.5-cp311-cp311-linux_x86_64.whl
+OK    PyZED wheel is a symlink -> /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl
+OK    shared wheelhouse exists: /mnt/data2/magna/belt_perception_shared/wheels
+OK    shared PyZED wheel exists: /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl
+
+== Shared Artifact Roots ==
+INFO  recordings: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  converted_datasets: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  converted_datasets_repaired: missing shared read-only input root (okay for minimal pure unit tests)
+INFO  results: missing shared namespaced output root (OK until a task writes outputs)
+INFO  calibration_results: missing shared namespaced output root (OK until a task writes outputs)
+
+== Summary ==
+OK    completed with no warnings
+........................................................................ [ 72%]
+...........................                                              [100%]
+=============================== warnings summary ===============================
+tests/test_rt5_cma_continuation.py::test_child_retains_optimizer_state_and_only_computes_new_generation
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:36 2026 class=CMAEvolutionStrategy method=ask)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_child_retains_optimizer_state_and_only_computes_new_generation
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:37 2026 class=CMAEvolutionStrategy method=ask iteration=1)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_child_retains_optimizer_state_and_only_computes_new_generation
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:38 2026 class=CMAEvolutionStrategy method=ask iteration=2)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_unchanged_cap_or_changed_schedule[change0]
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:38 2026 class=CMAEvolutionStrategy method=ask)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_unchanged_cap_or_changed_schedule[change0]
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:39 2026 class=CMAEvolutionStrategy method=ask iteration=1)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_unchanged_cap_or_changed_schedule[change1]
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:40 2026 class=CMAEvolutionStrategy method=ask)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_unchanged_cap_or_changed_schedule[change1]
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:41 2026 class=CMAEvolutionStrategy method=ask iteration=1)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_import_refuses_changed_parent_before_copy
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:41 2026 class=CMAEvolutionStrategy method=ask)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_import_refuses_changed_parent_before_copy
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:42 2026 class=CMAEvolutionStrategy method=ask iteration=1)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_changed_numerical_source
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:43 2026 class=CMAEvolutionStrategy method=ask)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+tests/test_rt5_cma_continuation.py::test_continuation_refuses_changed_numerical_source
+  /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: function values with index [5] are not finite but [inf]. (time=Oct 10 18:58:44 2026 class=CMAEvolutionStrategy method=ask iteration=1)
+    warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+
+-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
+99 passed, 11 warnings in 111.71s (0:01:51)

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/input_check.json

@@ -0,0 +1,538 @@
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+    "source": "U cma_optimize_warp.py optimize/error_func @81c71879; configs/real.yaml",
+    "dimension": 12,
+    "bounds": [
+      0.0,
+      1.0
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+        "spring_y",
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+          100000.0
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+      [
+        "object_radius_m",
+        [
+          0.01,
+          0.05
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+        "object_max_neighbours",
+        [
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+          50
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+      [
+        "controller_radius_m",
+        [
+          0.01,
+          0.08
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+      [
+        "controller_max_neighbours",
+        [
+          10,
+          80
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+      ],
+      [
+        "ground_restitution",
+        "direct"
+      ],
+      [
+        "ground_friction",
+        [
+          0,
+          2
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+      ],
+      [
+        "object_restitution",
+        "direct"
+      ],
+      [
+        "object_friction",
+        [
+          0,
+          2
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+      ],
+      [
+        "collision_distance_m",
+        [
+          0.01,
+          0.05
+        ]
+      ],
+      [
+        "drag_damping",
+        [
+          0,
+          20
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+      ],
+      [
+        "dashpot_damping",
+        [
+          0,
+          200
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+      0.25,
+      0.5,
+      0.4285714285714285,
+      0.5714285714285714,
+      0.5,
+      0.15,
+      0.7,
+      0.15,
+      0.25,
+      0.15,
+      0.5
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+    "sigma": 0.16666666666666666,
+    "seed": 42,
+    "population_size": "popsize omitted: pinned pycma dimension default (as U); resolved value in manifest strategy",
+    "sampler": "private numpy RandomState(42).randn (parity with U's globally seeded default)",
+    "backend": "pycma_4_4_4_serial_ask_tell_v1",
+    "max_generations": 250,
+    "stopping": "es.stop() at every loop head, honoured after the first generation; else max_generations",
+    "score": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))",
+    "told_failures": "+inf only for a physical nonfinite dynamics endpoint; other errors stop the run",
+    "object_collision": "inactive (self_collision=False, no object masks); its three coordinates have no effect"
+  },
+  "strategy": {
+    "backend_id": "pycma_4_4_4_serial_ask_tell_v1",
+    "package_version": "4.4.4",
+    "dimension": 12,
+    "population_size": 11,
+    "population_size_source": "pycma_default",
+    "resolved_mu": 5,
+    "seed": 42,
+    "initial_sigma": 0.16666666666666666,
+    "creation_options": {
+      "bounds": [
+        0.0,
+        1.0
+      ],
+      "seed": 42,
+      "randn": "numpy.random.RandomState.randn"
+    }
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/prelaunch_final_check.log

@@ -0,0 +1,99 @@
+
+Worktree status:
+  ## cursor/rt_faithful_track_20261010
+
+Canonical status (/mnt/data0/magna/belt_perception):
+  ## main...origin/main
+   m co-tracker
+   ? mvtracker
+
+Initialized submodule branch/remote status:
+  submodule: segment-anything-2
+    branch:          detached@969dad5
+    HEAD:            969dad578a42d4c75624f87821497d37aabfbe99
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/segment-anything-2.git
+    expected_remote: https://github.com/leonmkim/segment-anything-2.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: splinebox
+    branch:          detached@6edb17e
+    HEAD:            6edb17ef22b40176f66d31c57621105067815a2e
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/splinebox.git
+    expected_remote: https://github.com/leonmkim/splinebox.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/newton
+    branch:          detached@5f4656cd
+    HEAD:            5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/newton.git
+    expected_remote: https://github.com/leonmkim/newton.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/zdepth
+    branch:          detached@abc01e7
+    HEAD:            abc01e77ed5a905fbd87c2f011cfcf50653cfbda
+    dirty_count:     0
+    origin:          https://github.com/catid/Zdepth.git
+    expected_remote: https://github.com/catid/Zdepth.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: co-tracker
+    branch:          detached@82e02e8
+    HEAD:            82e02e8029753ad4ef13cf06be7f4fc5facdda4d
+    dirty_count:     0
+    origin:          https://github.com/facebookresearch/co-tracker.git
+    expected_remote: https://github.com/facebookresearch/co-tracker.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/phystwin
+    branch:          detached@41aa14f
+    HEAD:            41aa14f2c554bca7faeef1e807e0651e54a53f7c
+    dirty_count:     0
+    origin:          https://github.com/leonmkim/PhysTwin.git
+    expected_remote: https://github.com/leonmkim/PhysTwin.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+  submodule: third_party/phystwin_original
+    branch:          detached@81c7187
+    HEAD:            81c718790a37e5e0102eb77af2c6edd34a9db25f
+    dirty_count:     0
+    origin:          https://github.com/Jianghanxiao/PhysTwin.git
+    expected_remote: https://github.com/Jianghanxiao/PhysTwin.git
+    remote_match:    yes
+    WARNING: clean detached HEAD (okay for read-only inspection).
+
+Docs validation:
+Docs validation passed.
+
+Prototype default: no formal artifact promotion unless explicitly requested or a named, already-existing consumer requires the exact payload; never publish without explicit authorization.
+
+===== Agent final-check summary (paste into report) =====
+note: agent_final_check validates checkout hygiene and guardrails.
+      It does not replace focused pytest validation.
+      Prefer scripts/agent_pytest.sh --profile <profile> <tests...>.
+      Manual fallback: uv run --no-sync pytest <tests...>.
+execution_environment: local
+worktree_path: /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+branch:        cursor/rt_faithful_track_20261010
+marker.branch: cursor/rt_faithful_track_20261010
+base_commit:   c0d29d71d3cbe17485a558ecd3a748e60ce70ace
+latest_commit: 2b53aa2040ed159d13894732a7eb6e56e530bfe0
+dirty_status:  0 file(s) changed/untracked entries in worktree
+canonical_path: /mnt/data0/magna/belt_perception
+agent_worktree_root: /mnt/data0/magna
+data_root:      /mnt/data2/magna
+shared_root:    /mnt/data2/magna/belt_perception_shared
+run_root:       /tmp/belt_perception_runs
+scratch_root:   /tmp
+transfer_root:  /mnt/data2/magna/belt_perception_transfers
+uv_cache_root:  /home/magna/.cache/uv
+canonical_branch: main
+canonical_status: OK (on main; only allowed submodule dirt, if any)
+belt.agentGuards: true
+core.hooksPath:   scripts/git-hooks
+=========================================================
+
+Final check passed.

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/evidence/rt_faithful_track_20261010/readiness.json

@@ -0,0 +1,545 @@
+{
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