diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..1d43552f54af2617201c3112dd76c1b2bd948acc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b918bc88dcf165421ab87c04df95d2977e958c98cbfa17588d27b30360966ab +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..06b85a2dd8fb3fe686e7d10a4c3e69a59b56b534 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33708e43fe10132426825489b2e663ddc8e356908b3d098ceb9a42bf5a54dbbd +size 81458 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..8c15c20b1b2e69f57b5fda02152e7cfb28707291 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:850a74da341cd4811f5b83116f96b169bdb0a5d1e06acd49447f5329e31567f6 +size 361124 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..adb446c5cb256d930d3998b499e7a7dde1741d57 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 20, + "ask_index": 10, + "global_ask_index": 230, + "normalized": [ + 0.4634076403737528, + 0.8744315964227888, + 0.8041069049145512, + 0.7613064513821675, + 0.7872551825539812, + 0.6466582710877543, + 0.01204234822501862, + 0.23227103985949837, + 0.16811143037261755, + 0.3347011980864022, + 0.9999615830371519, + 0.8634864789396635 + ], + "settings": { + "spring_y": 46340.76403737528, + "object_radius_m": 0.04497726385691155, + "object_max_neighbours": 42, + "controller_radius_m": 0.06329145159675173, + "controller_max_neighbours": 65, + "ground_restitution": 0.6466582710877543, + "ground_friction": 0.02408469645003724, + "object_restitution": 0.23227103985949837, + "object_friction": 0.3362228607452351, + "collision_distance_m": 0.023388047923456088, + "drag_damping": 19.99923166074304, + "dashpot_damping": 172.6972957879327 + }, + "topology": { + "object_springs": 15967, + "controller_springs": 1935, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03535321727395058 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.06258418411016464 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 251, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1040, + "hand_B": 895 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.368173258844763, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 5, + "wave_members": [ + 10 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05075025907717645, + "workspace_s": 0.1993138249963522, + "objective_s": 0.005860625067725778, + "stage_capture_s": 0.13013304001651704, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007578469114378095, + "complete_s": 0.01790844090282917 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011290307156741619, + "complete_s": 0.00024163490161299706 + } + }, + "total_s": 0.3536247769370675 + } + } + }, + "wall_time_s": 5.785729397088289, + "outcome": "finite", + "score": 0.0010173664538070271, + "tell_score": 0.0010173664538070271, + "observation_score": 0.0006840231950289774, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..34d4dce76599664c9994a79403dacbe6ff1bba18 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03e4df21e382af64beb0c7b339ec30d841cb80badbab298b7bfbefcf7115294c +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..04baa20d45f88b28c231f35c80271f0db89713ff --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8a0c3a78fb4b3f1b7641f6a7d2aa2c4b4393602630102c9496cc0fdc5db2540 +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da923fa194d5ceb75e345bc0bc61275b5bb3e418 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791674167.9080322, "t_invocation_s": 0.00011575, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674167.908865, "t_invocation_s": 0.000948561, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674168.4175463, "t_invocation_s": 0.509630157, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.0541243648622185, "workspace_s": 0.2947635829914361, "objective_s": 0.005833868868649006, "stage_capture_s": 0.12800324708223343, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008831989951431751, "complete_s": 0.019686655141413212}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.583006612956524e-05, "complete_s": 0.0002129371277987957}}, "total_s": 0.4486526809632778}, "object_springs": 18536, "controller_springs": 1481} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674168.8463027, "t_invocation_s": 0.938386466, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05221612099558115, "workspace_s": 0.21147911110892892, "objective_s": 0.006038535851985216, "stage_capture_s": 0.12890518503263593, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008428327040746808, "complete_s": 0.019148290157318115}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010338402353227139, "complete_s": 0.0002471720799803734}}, "total_s": 0.3660184070467949}, "object_springs": 17796, "controller_springs": 1649} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674168.851577, "t_invocation_s": 0.94366054, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674176.8129177, "t_invocation_s": 8.905001601, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674176.82571, "t_invocation_s": 8.917793689, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674176.8558652, "t_invocation_s": 8.947949255, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674176.8811529, "t_invocation_s": 8.973236979, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674176.8820972, "t_invocation_s": 8.974180685, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674177.3436964, "t_invocation_s": 9.435780306, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.04570667399093509, "workspace_s": 0.2583602350205183, "objective_s": 0.0058678979985415936, "stage_capture_s": 0.1278492109850049, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007532048970460892, "complete_s": 0.017461647978052497}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011836993508040905, "complete_s": 0.00023892009630799294}}, "total_s": 0.40997290681116283}, "object_springs": 14145, "controller_springs": 1590} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674177.752877, "t_invocation_s": 9.844961152, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.04989849193952978, "workspace_s": 0.20585652603767812, "objective_s": 0.005659688031300902, "stage_capture_s": 0.12358034704811871, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007045794976875186, "complete_s": 0.0179089920129627}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.679095819592476e-05, "complete_s": 0.00023047090508043766}}, "total_s": 0.3534096949733794}, "object_springs": 18177, "controller_springs": 1890} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674177.758254, "t_invocation_s": 9.850337687, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674185.3531804, "t_invocation_s": 17.44526404, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674185.365597, "t_invocation_s": 17.457680557, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674185.393076, "t_invocation_s": 17.485160048, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674185.4200976, "t_invocation_s": 17.512181414, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674185.4211879, "t_invocation_s": 17.513271276, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674185.9261353, "t_invocation_s": 18.018219054, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.055401344085112214, "workspace_s": 0.2856736439280212, "objective_s": 0.006054492900148034, "stage_capture_s": 0.13289112504571676, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007681475952267647, "complete_s": 0.01860460010357201}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010025198571383953, "complete_s": 0.0002191830426454544}}, "total_s": 0.4436096448916942}, "object_springs": 18536, "controller_springs": 2030} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674186.3334682, "t_invocation_s": 18.425551957, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.04643435007892549, "workspace_s": 0.19604100892320275, "objective_s": 0.005969687132164836, "stage_capture_s": 0.12921787984669209, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008308616932481527, "complete_s": 0.018628648947924376}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010123313404619694, "complete_s": 0.00024216296151280403}}, "total_s": 0.3502760420087725}, "object_springs": 15897, "controller_springs": 1576} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674186.3387077, "t_invocation_s": 18.430791135, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674194.1856055, "t_invocation_s": 26.277689413, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674194.1935728, "t_invocation_s": 26.28565646, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674194.222145, "t_invocation_s": 26.31422896, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674194.2505877, "t_invocation_s": 26.342671894, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674194.2516055, "t_invocation_s": 26.343689039, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674194.741399, "t_invocation_s": 26.833482895, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.13424271089024842, "workspace_s": 0.1976336077786982, "objective_s": 0.0057228561490774155, "stage_capture_s": 0.12716756807640195, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008163622813299298, "complete_s": 0.018642751965671778}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011687586084008217, "complete_s": 0.00022730487398803234}}, "total_s": 0.34954760782420635}, "object_springs": 16690, "controller_springs": 1940} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674195.1666548, "t_invocation_s": 27.258738353, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.050330427940934896, "workspace_s": 0.21103521599434316, "objective_s": 0.005920912139117718, "stage_capture_s": 0.12925495486706495, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007168428972363472, "complete_s": 0.01788882492110133}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.307009167969227e-05, "complete_s": 0.00022726599127054214}}, "total_s": 0.36449827114120126}, "object_springs": 17731, "controller_springs": 2220} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674195.171936, "t_invocation_s": 27.264019455, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674202.9992387, "t_invocation_s": 35.091322395, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674203.0118449, "t_invocation_s": 35.103928309, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674203.0392716, "t_invocation_s": 35.13135561, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674203.0659404, "t_invocation_s": 35.158024483, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674203.0665886, "t_invocation_s": 35.15867204, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674203.530897, "t_invocation_s": 35.622980696, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.1207186970859766, "workspace_s": 0.18405703199096024, "objective_s": 0.0056496241595596075, "stage_capture_s": 0.12968969088979065, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00779033312574029, "complete_s": 0.01803613407537341}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001013569999486208, "complete_s": 0.00024091103114187717}}, "total_s": 0.3378408341668546}, "object_springs": 15599, "controller_springs": 1541} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674203.9419453, "t_invocation_s": 36.034029004, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05147447809576988, "workspace_s": 0.19997257692739367, "objective_s": 0.005591958994045854, "stage_capture_s": 0.12526922416873276, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007135139079764485, "complete_s": 0.01792191993445158}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.304308332502842e-05, "complete_s": 0.00022357306443154812}}, "total_s": 0.3491497898939997}, "object_springs": 18161, "controller_springs": 1278} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674203.947166, "t_invocation_s": 36.039249594, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674211.7722523, "t_invocation_s": 43.86433607, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674211.7849932, "t_invocation_s": 43.877076941, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674211.8161676, "t_invocation_s": 43.908251865, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674211.843443, "t_invocation_s": 43.935526975, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674211.8442183, "t_invocation_s": 43.936301868, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674212.254832, "t_invocation_s": 44.346915861, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05075025907717645, "workspace_s": 0.1993138249963522, "objective_s": 0.005860625067725778, "stage_capture_s": 0.13013304001651704, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007578469114378095, "complete_s": 0.01790844090282917}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011290307156741619, "complete_s": 0.00024163490161299706}}, "total_s": 0.3536247769370675}, "object_springs": 15967, "controller_springs": 1935} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674212.2600584, "t_invocation_s": 44.35214202, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674217.6367128, "t_invocation_s": 49.728796414, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674217.6373858, "t_invocation_s": 49.729469286, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674217.665641, "t_invocation_s": 49.75772491, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791674217.6678407, "t_invocation_s": 49.759924326, "generation": 20, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 189} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..60bce0e2d5f50247117ab6f972372bc7e13a899d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c29badfccb0bb5bc1c13f1634f601ebeec441af986bad5f9165c185366525a3 +size 30914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2edb3371f4c5720a2b857ff25a88065f81523084 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25cf64087832d31f0cbf5b39e034af6c22171a8f4454af8fd0558935c83f9df2 +size 27639 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/told.json new file mode 100644 index 0000000000000000000000000000000000000000..5eb6d1c1c42cd237ec9fab19eb51648ba3f248a5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g020/told.json @@ -0,0 +1,60 @@ +{ + "generation": 20, + "told_scores": [ + 0.0009699063677892711, + 0.0009090049585626013, + 0.0011082644302985022, + 0.000988686252660412, + 0.0011036307315498376, + 0.000995013450993516, + 0.0010384718811251139, + 0.0011425471013368491, + 0.0009318513727508383, + 0.000964717733694616, + 0.0010173664538070271 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 231, + "told_asks_total": 231, + "champion": { + "generation": 17, + "ask_index": 2, + "global_ask_index": 189, + "score": 0.0008811011356280267, + "observation_score": 0.00048294550972000094, + "normalized": [ + 0.40741435530086423, + 0.6456333257253934, + 0.9711200047881823, + 0.4914555890257542, + 0.9166382413494617, + 0.47425014868348975, + 0.014339451567955325, + 0.05112994837876139, + 0.02232750488176065, + 0.08743348914372356, + 0.9980459181072475, + 0.6390175534874003 + ], + "settings": { + "spring_y": 40741.435530086426, + "object_radius_m": 0.03582533302901574, + "object_max_neighbours": 48, + "controller_radius_m": 0.0444018912318028, + "controller_max_neighbours": 74, + "ground_restitution": 0.47425014868348975, + "ground_friction": 0.02867890313591065, + "object_restitution": 0.05112994837876139, + "object_friction": 0.0446550097635213, + "collision_distance_m": 0.013497339565748943, + "drag_damping": 19.96091836214495, + "dashpot_damping": 127.80351069748006 + } + }, + "pycma": { + "countiter": 21, + "countevals": 231, + "sigma": 0.18119285177896444 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..305e4f2a4ecbb3753eee62e413ffdc785a37f344 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4998a56e89324c88c73bc5e5bf756775a7c2b0be332520f3b218d73e534fa5a1 +size 84974 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..487972b27faa68c653b4ab609193549a55caccc9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9169089decc3f2a60beeddcdea42073d02cd2f94a462bb472cebec575326f8f2 +size 378608 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3d1b9de0ed5f9eddcbef7e487af7b51dd1298f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 0, + "global_ask_index": 231, + "normalized": [ + 0.4371461538301926, + 0.7937029023128348, + 0.8829852296402029, + 0.6605428837565858, + 0.7259950101879583, + 0.4399324436283775, + 3.027439939615231e-07, + 0.3595114061951633, + 0.3292417674560204, + 0.0892333526424223, + 0.9998046229184298, + 0.8432632144434081 + ], + "settings": { + "spring_y": 43714.61538301926, + "object_radius_m": 0.041748116092513395, + "object_max_neighbours": 45, + "controller_radius_m": 0.05623800186296101, + "controller_max_neighbours": 60, + "ground_restitution": 0.4399324436283775, + "ground_friction": 6.054879879230462e-07, + "object_restitution": 0.3595114061951633, + "object_friction": 0.6584835349120408, + "collision_distance_m": 0.013569334105696893, + "drag_damping": 19.996092458368594, + "dashpot_damping": 168.6526428886816 + }, + "topology": { + "object_springs": 17059, + "controller_springs": 1717, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03765278309583664 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05623500794172287 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 245, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 940, + "hand_B": 777 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.477429761085659, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05106087401509285, + "workspace_s": 0.20008416404016316, + "objective_s": 0.005542181897908449, + "stage_capture_s": 0.12244522920809686, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0074045429937541485, + "complete_s": 0.017963439924642444 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.735510684549809e-05, + "complete_s": 0.00021932902745902538 + } + }, + "total_s": 0.34642238006927073 + } + } + }, + "wall_time_s": 8.34433243284002, + "outcome": "finite", + "score": 0.0009405624598647371, + "tell_score": 0.0009405624598647371, + "observation_score": 0.0006105868687252529, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..00b380fa872973881a89b32e1a0887bd58eeb47f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbe4e333f7c3de166cab41182097a2c0aaad0985d66a45a47fa83fe88ab1748 +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..990d008e10316ed8db3bd52f07f48d0c11b60f0b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11f2845801658748f46582e24e7cc4d0bf30bb6deb0b39a924a4e748dac3c9c5 +size 71550 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3d2debffde7db86140dd8276c26c235ab307fe2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de26b8f6057caa5d02c70c7a5fd226e6e3d8972c541a30bac49b7402b83a7197 +size 311692 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..4e6ccd68a401952e5a736e8a69c90ae8c7c30372 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 1, + "global_ask_index": 232, + "normalized": [ + 0.512172266242998, + 0.874909239176462, + 0.6867990517371833, + 0.543549803481936, + 0.764804889526986, + 0.6621182798467057, + 0.11158273845925086, + 0.17672913757092126, + 0.12794506526218474, + 0.10696151779677296, + 0.9324075229905583, + 0.9031799486906754 + ], + "settings": { + "spring_y": 51217.22662429981, + "object_radius_m": 0.044996369567058485, + "object_max_neighbours": 37, + "controller_radius_m": 0.048048486243735526, + "controller_max_neighbours": 63, + "ground_restitution": 0.6621182798467057, + "ground_friction": 0.22316547691850172, + "object_restitution": 0.17672913757092126, + "object_friction": 0.2558901305243695, + "collision_distance_m": 0.01427846071187092, + "drag_damping": 18.648150459811166, + "dashpot_damping": 180.6359897381351 + }, + "topology": { + "object_springs": 14145, + "controller_springs": 1285, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.031758178025484085 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.0480351559817791 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 218, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 704, + "hand_B": 581 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.477429761085659, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.12126382603310049, + "workspace_s": 0.17708290787413716, + "objective_s": 0.005676332162693143, + "stage_capture_s": 0.12344425381161273, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00739143998362124, + "complete_s": 0.017316997051239014 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011028582230210304, + "complete_s": 0.00024436600506305695 + } + }, + "total_s": 0.3239372589159757 + } + } + }, + "wall_time_s": 7.948965735035017, + "outcome": "finite", + "score": 0.0010489702670683928, + "tell_score": 0.0010489702670683928, + "observation_score": 0.0006242114212411378, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e80ef9853abfc5b87e42c78680fc1e942a7e8ab --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3962c9d9587984a2d3c1ccd647d0194d333c2e1d76b87b1b47833882b8595800 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..fa01ff6a8b475d88f47c81249e3b01dbaa4139be --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd90833a122b560ff76c5bb7bb8e9e1bd03775a44d40fda824f99c17425755a +size 80374 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..aac3f7bb9db1a63944f4e8bed3d63297a0637c1a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68271da6ff25d827e0993ac3fbe7bbf2306236b0d0c4f0ee30f963faf3d72982 +size 355704 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..635c8a19541ab8e92b063e09eb8ffd1b25f0bc56 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 2, + "global_ask_index": 233, + "normalized": [ + 0.6275912370758591, + 0.9335265957826883, + 0.8007296508629359, + 0.5975329792320277, + 0.9052603889410501, + 0.3388922050345779, + 0.05279726407235148, + 0.24476814484055132, + 0.07140548184595553, + 0.26657961082061266, + 0.578845352565922, + 0.9909768139982238 + ], + "settings": { + "spring_y": 62759.12370758591, + "object_radius_m": 0.04734106383130753, + "object_max_neighbours": 42, + "controller_radius_m": 0.05182730854624195, + "controller_max_neighbours": 73, + "ground_restitution": 0.3388922050345779, + "ground_friction": 0.10559452814470296, + "object_restitution": 0.24476814484055132, + "object_friction": 0.14281096369191107, + "collision_distance_m": 0.020663184432824507, + "drag_damping": 11.57690705131844, + "dashpot_damping": 198.19536279964476 + }, + "topology": { + "object_springs": 15967, + "controller_springs": 1664, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03535321727395058 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05182609334588051 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 240, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 933, + "hand_B": 731 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.456689363112673, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.049623244907706976, + "workspace_s": 0.18584596295841038, + "objective_s": 0.005838333163410425, + "stage_capture_s": 0.12960604601539671, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007372377905994654, + "complete_s": 0.01766752195544541 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.706011041998863e-05, + "complete_s": 0.0002320560161024332 + } + }, + "total_s": 0.3393694730475545 + } + } + }, + "wall_time_s": 8.330993188777938, + "outcome": "finite", + "score": 0.0011529616478431301, + "tell_score": 0.0011529616478431301, + "observation_score": 0.0005324565152555387, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..13ae658c6919f9c4bef0454cffbb77ce563b4119 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:265de95877157323818ec9b742daf8758da99a74bd0c3fef9eb1e9823704f702 +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f085f1bbca5acb0fb683c06cd9a62e232a16cce7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a342c0d574ed822890b62eaac59f28cacf6c918c68d79626ea5bdbdee7ff6527 +size 77582 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..115a03d156dda78152529e055851cb4343711619 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14351bd95650f32129d4cfd4dcf57386060e83d7c276d82b664960e60654cf8b +size 341904 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..9659a6add9aaae09872e9f84f4dd6ffa4c98845e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 3, + "global_ask_index": 234, + "normalized": [ + 0.6588111780478499, + 0.9587945751581555, + 0.7306375227405445, + 0.9615158211458968, + 0.8562967838370997, + 0.7281650455624527, + 0.0723418858593827, + 0.1972877168149602, + 0.5357266943481188, + 0.02020838708619088, + 0.9997169340571627, + 0.9774218260818934 + ], + "settings": { + "spring_y": 65881.117804785, + "object_radius_m": 0.04835178300632622, + "object_max_neighbours": 39, + "controller_radius_m": 0.07730610748021279, + "controller_max_neighbours": 69, + "ground_restitution": 0.7281650455624527, + "ground_friction": 0.1446837717187654, + "object_restitution": 0.1972877168149602, + "object_friction": 1.0714533886962376, + "collision_distance_m": 0.010808335483447635, + "drag_damping": 19.994338681143255, + "dashpot_damping": 195.48436521637868 + }, + "topology": { + "object_springs": 14871, + "controller_springs": 2070, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.033164747059345245 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.07162686437368393 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 261, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1104, + "hand_B": 966 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.456689363112673, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04398397891782224, + "workspace_s": 0.26860003895126283, + "objective_s": 0.005686358083039522, + "stage_capture_s": 0.12581902905367315, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007288418943062425, + "complete_s": 0.01739375200122595 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.247404523193836e-05, + "complete_s": 0.00021631200797855854 + } + }, + "total_s": 0.41789316595532 + } + } + }, + "wall_time_s": 7.940198792843148, + "outcome": "finite", + "score": 0.0010290714887102644, + "tell_score": 0.0010290714887102644, + "observation_score": 0.0006497872044230255, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..3c72223a758aa0d21e2baa03c0f8188b91faa348 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eb444c88a7ec93a171d899fe7eea25d5984c7a5e6750dd00db7cbd182c6d385 +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..b421c51c6f93a83ebd2e46ef2f42f821a3a53b58 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:439feda6f51006fe8e502515c43db4a8ee0bd3135f34b4ebb42cc62f99954c02 +size 73390 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c5e535fe73bafb554f2782533855b9aaa5fc55ba --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a2e31dbc9bd6a69d7543ccf64bb75cf2aea259ccba6e1890c403347901150f1 +size 320768 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..309c82908554261c28796031e74545433d70629a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 4, + "global_ask_index": 235, + "normalized": [ + 0.537185282229035, + 0.7603490985039906, + 0.6965388296078802, + 0.6068868995020151, + 0.9608556052503324, + 0.3527448719766346, + 0.04300734360337974, + 0.252687146232989, + 0.17564639409839466, + 0.013256081969201628, + 0.9499030540978657, + 0.9715871704377947 + ], + "settings": { + "spring_y": 53718.52822290351, + "object_radius_m": 0.04041396394015962, + "object_max_neighbours": 37, + "controller_radius_m": 0.052482082965141064, + "controller_max_neighbours": 77, + "ground_restitution": 0.3527448719766346, + "ground_friction": 0.08601468720675948, + "object_restitution": 0.252687146232989, + "object_friction": 0.35129278819678933, + "collision_distance_m": 0.010530243278768066, + "drag_damping": 18.998061081957314, + "dashpot_damping": 194.31743408755895 + }, + "topology": { + "object_springs": 14145, + "controller_springs": 1739, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.031758178025484085 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.052467748522758484 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 249, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 984, + "hand_B": 755 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.057417714968324, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04359664209187031, + "workspace_s": 0.1750303420703858, + "objective_s": 0.0057792209554463625, + "stage_capture_s": 0.1262594589497894, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007084491895511746, + "complete_s": 0.017008340917527676 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011084205470979214, + "complete_s": 0.00024331011809408665 + } + }, + "total_s": 0.32448610197752714 + } + } + }, + "wall_time_s": 7.899627536069602, + "outcome": "finite", + "score": 0.000994351719764048, + "tell_score": 0.000994351719764048, + "observation_score": 0.0005818601063178338, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..49caae5b716b01469cf6d7688dc7e351d9738ca8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a14fb3210d7a154fbdcd5e4d2775ed9121d8fd59623695cca39f9e72f40dee5 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..585adb2fb3231e8b1561740bf17f4745e2e31854 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c87464598d0cda1720e23ab449ff1a963524e132fa80623b60d3647a051cb8b +size 68830 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..d0c851e2e2684c2fe0413d9b628af6c3d473ddac --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0036a60d6b93cd25ff20dc5685e269bee98e2aef6f414084970f1c194b7e0fb9 +size 298084 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..0369992f1f1530f8ef5ceff6f914454b73b53cd4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 5, + "global_ask_index": 236, + "normalized": [ + 0.8381303618775346, + 0.9918686619558802, + 0.5899575659870863, + 0.9022020794570889, + 0.8492356882021771, + 0.4989158767949416, + 0.16904819450753492, + 0.00113421337024862, + 0.2900685960728101, + 0.2123384346692462, + 0.7284587881196009, + 0.9062125262027464 + ], + "settings": { + "spring_y": 83813.03618775346, + "object_radius_m": 0.04967474647823521, + "object_max_neighbours": 33, + "controller_radius_m": 0.07315414556199622, + "controller_max_neighbours": 69, + "ground_restitution": 0.4989158767949416, + "ground_friction": 0.33809638901506983, + "object_restitution": 0.00113421337024862, + "object_friction": 0.5801371921456202, + "collision_distance_m": 0.01849353738676985, + "drag_damping": 14.569175762392018, + "dashpot_damping": 181.2425052405493 + }, + "topology": { + "object_springs": 12680, + "controller_springs": 2070, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.028410134837031364 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.07162686437368393 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 261, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1104, + "hand_B": 966 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.057417714968324, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.03683155681937933, + "workspace_s": 0.2623684899881482, + "objective_s": 0.005841245176270604, + "stage_capture_s": 0.12748112995177507, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007734246086329222, + "complete_s": 0.017397534102201462 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010722782462835312, + "complete_s": 0.00023900391533970833 + } + }, + "total_s": 0.41350159514695406 + } + } + }, + "wall_time_s": 7.534199585905299, + "outcome": "finite", + "score": 0.0012271180803323962, + "tell_score": 0.0012271180803323962, + "observation_score": 0.0006604852756073266, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..69d9ac47b40cdabaf41a1287ddbc66ec2473192d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9be39546235cc6f883deeb7830ed7de9b1367c2fd67855a63dd552e52618628 +size 2528910 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f400c94073d2ae5ab33217c16a34dabd4b596312 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6978490d724830fa433b513255de26d3725767206ca4bc32639787f9f67de9f1 +size 83514 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..840aba4c7672b95ca1c6d07f5ed4bc4e22f4ce3b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2eb03ca8ce590e8c305c8276260c6cec71265a9bdd09ec5cf98e08f1a804ec0 +size 371608 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..c78a5f0490b372adc63cc9a64eda70540853597e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 6, + "global_ask_index": 237, + "normalized": [ + 0.5084226316020103, + 0.8441047524436088, + 0.8750680134503773, + 0.6505379042639168, + 0.5215533638291714, + 0.9547639182760098, + 0.05063425723282579, + 0.2838489642165874, + 0.12270910333427976, + 0.2741308452251733, + 0.9878904970862038, + 0.9792227852293476 + ], + "settings": { + "spring_y": 50842.26316020103, + "object_radius_m": 0.043764190097744356, + "object_max_neighbours": 45, + "controller_radius_m": 0.05553765329847418, + "controller_max_neighbours": 46, + "ground_restitution": 0.9547639182760098, + "ground_friction": 0.10126851446565158, + "object_restitution": 0.2838489642165874, + "object_friction": 0.2454182066685595, + "collision_distance_m": 0.02096523380900693, + "drag_damping": 19.757809941724076, + "dashpot_damping": 195.84455704586952 + }, + "topology": { + "object_springs": 17059, + "controller_springs": 1367, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03765278309583664 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05526190996170044 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 212, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 734, + "hand_B": 633 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.920140992850065, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0513926069252193, + "workspace_s": 0.19472260307520628, + "objective_s": 0.005604628939181566, + "stage_capture_s": 0.12375253206118941, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007144429022446275, + "complete_s": 0.017721671145409346 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.56319272518158e-05, + "complete_s": 0.00021908595226705074 + } + }, + "total_s": 0.34218921791762114 + } + } + }, + "wall_time_s": 8.818764820927754, + "outcome": "finite", + "score": 0.0009612957407557263, + "tell_score": 0.0009612957407557263, + "observation_score": 0.0006334702864852629, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b6475b9ca42f52330fe022b19e64aac12bc4450 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ab25a7eb4ac34b985113b96434b9246ce02d8351bc8b8c0f0f0b57defb844ac +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..43836014967cabddf147932e3b3374a974ebf39f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40277a3f47984ce29c6c2f605254ac79d7d2a8ddb65d7651b0789e5f389abb47 +size 88730 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc75ebd2cbfc5fed61d1c56c709f1dfc390f7a89 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:400469f2bcc9d29009ab8b16961b95aa0a74dd8b1d028f6bd871a76ba4ec628a +size 397312 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8ecdd1a39a592280f1b6addce678821c9074c8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 7, + "global_ask_index": 238, + "normalized": [ + 0.6443215983633401, + 0.8421662578279511, + 0.9915140637811959, + 0.5250928128676942, + 0.7203235555612894, + 0.4757970767627133, + 1.5466974691341905e-07, + 0.48139335967669183, + 0.14599454061465905, + 0.08634225684756228, + 0.9550012272840256, + 0.9877620901616285 + ], + "settings": { + "spring_y": 64432.159836334016, + "object_radius_m": 0.043686650313118046, + "object_max_neighbours": 49, + "controller_radius_m": 0.046756496900738596, + "controller_max_neighbours": 60, + "ground_restitution": 0.4757970767627133, + "ground_friction": 3.093394938268381e-07, + "object_restitution": 0.48139335967669183, + "object_friction": 0.2919890812293181, + "collision_distance_m": 0.013453690273902492, + "drag_damping": 19.100024545680512, + "dashpot_damping": 197.5524180323257 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1167, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04673248156905174 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 214, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 633, + "hand_B": 534 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.920140992850065, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05016726185567677, + "workspace_s": 0.28519608988426626, + "objective_s": 0.005675164982676506, + "stage_capture_s": 0.1232004479970783, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006808620877563953, + "complete_s": 0.017676054034382105 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.435601532459259e-05, + "complete_s": 0.00022381683811545372 + } + }, + "total_s": 0.4321359018795192 + } + } + }, + "wall_time_s": 8.427694331854582, + "outcome": "finite", + "score": 0.0009553697408148981, + "tell_score": 0.0009553697408148981, + "observation_score": 0.0004918743114014652, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..be1e55972d913f18821d44ca81539179bfe78fc4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d435950badd7714d2455de891fe3cefcce33972e5bbdd47ba6f38eb9ccb17ad4 +size 2528910 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..35f0c234cb280c1a8da1149a4cb3dc76e117ea60 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49f6e7beedd25df1b615432d597099154066116976fa13e5386c4e4e8a15b074 +size 78302 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..32725f7b8be6f82fee51d8add34e8a8e448e4e00 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3ae8bc0f9c0976a5f79e0640bead76779562777ce73f8b3ed1283ec73212873 +size 345168 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..5ee26bb3915d8f657ffd5fa22db5b8f830b1c4a3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 8, + "global_ask_index": 239, + "normalized": [ + 0.6946969038839595, + 0.5528097051532168, + 0.8451301874845009, + 0.45627915862775104, + 0.5988722157982037, + 0.7891492181840528, + 0.24825196657029008, + 0.22372258413045565, + 0.0011146384579251683, + 0.07630579267012785, + 0.9129372347786237, + 0.8676136236508334 + ], + "settings": { + "spring_y": 69469.69038839596, + "object_radius_m": 0.032112388206128675, + "object_max_neighbours": 43, + "controller_radius_m": 0.04193954110394258, + "controller_max_neighbours": 51, + "ground_restitution": 0.7891492181840528, + "ground_friction": 0.49650393314058017, + "object_restitution": 0.22372258413045565, + "object_friction": 0.0022292769158503366, + "collision_distance_m": 0.013052231706805115, + "drag_damping": 18.258744695572474, + "dashpot_damping": 173.5227247301667 + }, + "topology": { + "object_springs": 16326, + "controller_springs": 778, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03199007362127304 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04191849008202553 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 195, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 455, + "hand_B": 323 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.852052974049002, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04843069915659726, + "workspace_s": 0.18901289883069694, + "objective_s": 0.005799181060865521, + "stage_capture_s": 0.12305150111205876, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008418249897658825, + "complete_s": 0.01880378695204854 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.510503150522709e-05, + "complete_s": 0.00022078398615121841 + } + }, + "total_s": 0.33705520583316684 + } + } + }, + "wall_time_s": 8.745346727082506, + "outcome": "finite", + "score": 0.0010438058203907329, + "tell_score": 0.0010438058203907329, + "observation_score": 0.0005462365621208193, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..8945366f618778caba74c3d4de220d0688a45e1c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43f976e27133aa31f7b1a1e6feb73604e61eed3e708b5f1bf2ff3c80ff4b1b1d +size 2528914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..99f0059b2a3e3c8e0aaabffa7bdac8af7335dc56 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be3cf74138dde3342f45646f8733af7c04b84c850c849e7cb6fd083f51721221 +size 85762 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b76dba3a6acbf34e3243add257961aa3daf53fc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cacd79976b1d87b0f2e8c70a1e2894d928897a93487c42154baff38848fb02e0 +size 382688 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..7f4c8112c8eaacfa8d0c0d0bbb82a1dc82de172a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 9, + "global_ask_index": 240, + "normalized": [ + 0.30719544410549937, + 0.7680952975755189, + 0.998265314914806, + 0.35809542018025475, + 0.5014758237405472, + 0.8194203336046757, + 0.054402155324033696, + 0.406949073447158, + 0.35582116242846706, + 0.035852945311056914, + 0.9181395883404234, + 0.9394957357897159 + ], + "settings": { + "spring_y": 30719.544410549937, + "object_radius_m": 0.040723811903020754, + "object_max_neighbours": 49, + "controller_radius_m": 0.03506667941261783, + "controller_max_neighbours": 45, + "ground_restitution": 0.8194203336046757, + "ground_friction": 0.10880431064806739, + "object_restitution": 0.406949073447158, + "object_friction": 0.7116423248569341, + "collision_distance_m": 0.011434117812442277, + "drag_damping": 18.362791766808467, + "dashpot_damping": 187.8991471579432 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 436, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03505072742700577 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 167, + "controls_without_attachment": 13, + "attachments_by_hand": { + "hand_A": 273, + "hand_B": 163 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.852052974049002, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04992262297309935, + "workspace_s": 0.2853275069501251, + "objective_s": 0.005703730043023825, + "stage_capture_s": 0.1246340109501034, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006899453932419419, + "complete_s": 0.017787013901397586 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.598699398338795e-05, + "complete_s": 0.00022316304966807365 + } + }, + "total_s": 0.43384627904742956 + } + } + }, + "wall_time_s": 8.362002386944368, + "outcome": "finite", + "score": 0.0009763666730244405, + "tell_score": 0.0009763666730244405, + "observation_score": 0.0005999664903941798, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab51bd3f3e06aa295cf90ba78dde3454234df629 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4172ab94050c6bbef35a86985541b3a6aa9510da8406b45ada8f750169f01491 +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..26cbea3fe835746eed1f77fbfb7c002d02130891 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:471725ad86e4e63670103e741c62af6ffc9623c9ec37c1677e057a73f6ca7d1d +size 75882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..6b236bb106b2739d72c1ff9d9c15244b3f01b17e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04b47cf4396c2e536049326885940e142671d86fd4a9513c911b6fb5fdfd628b +size 333088 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..02a96718df9736e5663e20edee66b634e995f39f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 21, + "ask_index": 10, + "global_ask_index": 241, + "normalized": [ + 0.8822246928592249, + 0.3611935687362407, + 0.8043879662497606, + 0.46812963433489385, + 0.7754206279744772, + 0.43409462527985976, + 0.012256228092224255, + 0.3174101779827158, + 0.032229388576781856, + 0.19939115148963146, + 0.7960730682161773, + 0.9999571582510743 + ], + "settings": { + "spring_y": 88222.46928592249, + "object_radius_m": 0.02444774274944963, + "object_max_neighbours": 42, + "controller_radius_m": 0.042769074403442575, + "controller_max_neighbours": 64, + "ground_restitution": 0.43409462527985976, + "ground_friction": 0.02451245618444851, + "object_restitution": 0.3174101779827158, + "object_friction": 0.06445877715356371, + "collision_distance_m": 0.017975646059585258, + "drag_damping": 15.921461364323546, + "dashpot_damping": 199.99143165021488 + }, + "topology": { + "object_springs": 15595, + "controller_springs": 905, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.02444501966238022 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04275527969002724 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 211, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 536, + "hand_B": 369 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.301401691976935, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 5, + "wave_members": [ + 10 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04875398590229452, + "workspace_s": 0.18591963313519955, + "objective_s": 0.00574837694875896, + "stage_capture_s": 0.12640547705814242, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007116089109331369, + "complete_s": 0.017303846077993512 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00012787897139787674, + "complete_s": 0.000248027965426445 + } + }, + "total_s": 0.33578763413242996 + } + } + }, + "wall_time_s": 5.698925441829488, + "outcome": "finite", + "score": 0.0011713629268372266, + "tell_score": 0.0011713629268372266, + "observation_score": 0.0005041654390053417, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1d8fb9dcc32df65be3fe541d2a1d23009bb5fac --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92c95a1a3616c6480a338d8504b28aaccb0c6e53833f2012174ede2c84a960ee +size 2528910 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..22df42dc34147d99d07e503777ab6531fbeef110 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74d5ed3753d30cd95fc27eeab5f20c6b705f7db7ec5e72975a68bc4d57348cf0 +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7c284fc33a11d997844c41d85da475d451dfb22 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791674217.6698203, "t_invocation_s": 0.000114037, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674217.6704304, "t_invocation_s": 0.000724018, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674218.0738158, "t_invocation_s": 0.404109795, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05106087401509285, "workspace_s": 0.20008416404016316, "objective_s": 0.005542181897908449, "stage_capture_s": 0.12244522920809686, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0074045429937541485, "complete_s": 0.017963439924642444}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.735510684549809e-05, "complete_s": 0.00021932902745902538}}, "total_s": 0.34642238006927073}, "object_springs": 17059, "controller_springs": 1717} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674218.5292366, "t_invocation_s": 0.859530418, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.12126382603310049, "workspace_s": 0.17708290787413716, "objective_s": 0.005676332162693143, "stage_capture_s": 0.12344425381161273, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00739143998362124, "complete_s": 0.017316997051239014}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011028582230210304, "complete_s": 0.00024436600506305695}}, "total_s": 0.3239372589159757}, "object_springs": 14145, "controller_springs": 1285} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674218.534804, "t_invocation_s": 0.865098058, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674226.0208585, "t_invocation_s": 8.351152297, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674226.033436, "t_invocation_s": 8.363729882, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674226.0617204, "t_invocation_s": 8.392014325, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674226.0876272, "t_invocation_s": 8.417921334, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674226.0885077, "t_invocation_s": 8.418801478, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674226.4830842, "t_invocation_s": 8.813378272, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.049623244907706976, "workspace_s": 0.18584596295841038, "objective_s": 0.005838333163410425, "stage_capture_s": 0.12960604601539671, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007372377905994654, "complete_s": 0.01766752195544541}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.706011041998863e-05, "complete_s": 0.0002320560161024332}}, "total_s": 0.3393694730475545}, "object_springs": 15967, "controller_springs": 1664} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674226.9554162, "t_invocation_s": 9.285710149, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.04398397891782224, "workspace_s": 0.26860003895126283, "objective_s": 0.005686358083039522, "stage_capture_s": 0.12581902905367315, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007288418943062425, "complete_s": 0.01739375200122595}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.247404523193836e-05, "complete_s": 0.00021631200797855854}}, "total_s": 0.41789316595532}, "object_springs": 14871, "controller_springs": 2070} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674226.960706, "t_invocation_s": 9.290999802, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674234.4258125, "t_invocation_s": 16.756106368, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674234.4335876, "t_invocation_s": 16.763881056, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674234.4641662, "t_invocation_s": 16.794460206, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674234.4921217, "t_invocation_s": 16.822415623, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674234.4928403, "t_invocation_s": 16.823133899, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674234.8669965, "t_invocation_s": 17.197290434, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.04359664209187031, "workspace_s": 0.1750303420703858, "objective_s": 0.0057792209554463625, "stage_capture_s": 0.1262594589497894, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007084491895511746, "complete_s": 0.017008340917527676}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011084205470979214, "complete_s": 0.00024331011809408665}}, "total_s": 0.32448610197752714}, "object_springs": 14145, "controller_springs": 1739} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674235.3278074, "t_invocation_s": 17.658101637, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.03683155681937933, "workspace_s": 0.2623684899881482, "objective_s": 0.005841245176270604, "stage_capture_s": 0.12748112995177507, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007734246086329222, "complete_s": 0.017397534102201462}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010722782462835312, "complete_s": 0.00023900391533970833}}, "total_s": 0.41350159514695406}, "object_springs": 12680, "controller_springs": 2070} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674235.333028, "t_invocation_s": 17.6633216, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674242.3992307, "t_invocation_s": 24.729524638, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674242.41197, "t_invocation_s": 24.74226348, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674242.4410577, "t_invocation_s": 24.771351843, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674242.468853, "t_invocation_s": 24.799147162, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674242.4698586, "t_invocation_s": 24.800152139, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674242.8690012, "t_invocation_s": 25.199294878, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.0513926069252193, "workspace_s": 0.19472260307520628, "objective_s": 0.005604628939181566, "stage_capture_s": 0.12375253206118941, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007144429022446275, "complete_s": 0.017721671145409346}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.56319272518158e-05, "complete_s": 0.00021908595226705074}}, "total_s": 0.34218921791762114}, "object_springs": 17059, "controller_springs": 1367} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674243.3614435, "t_invocation_s": 25.691737448, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05016726185567677, "workspace_s": 0.28519608988426626, "objective_s": 0.005675164982676506, "stage_capture_s": 0.1232004479970783, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006808620877563953, "complete_s": 0.017676054034382105}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.435601532459259e-05, "complete_s": 0.00022381683811545372}}, "total_s": 0.4321359018795192}, "object_springs": 18544, "controller_springs": 1167} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674243.3666003, "t_invocation_s": 25.696893943, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674251.294637, "t_invocation_s": 33.624930903, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674251.3075514, "t_invocation_s": 33.637845071, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674251.335113, "t_invocation_s": 33.665407055, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674251.3633237, "t_invocation_s": 33.693617669, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674251.3641999, "t_invocation_s": 33.694493461, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674251.7559283, "t_invocation_s": 34.086222501, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.04843069915659726, "workspace_s": 0.18901289883069694, "objective_s": 0.005799181060865521, "stage_capture_s": 0.12305150111205876, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008418249897658825, "complete_s": 0.01880378695204854}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.510503150522709e-05, "complete_s": 0.00022078398615121841}}, "total_s": 0.33705520583316684}, "object_springs": 16326, "controller_springs": 778} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674252.250255, "t_invocation_s": 34.58054883, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.04992262297309935, "workspace_s": 0.2853275069501251, "objective_s": 0.005703730043023825, "stage_capture_s": 0.1246340109501034, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006899453932419419, "complete_s": 0.017787013901397586}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.598699398338795e-05, "complete_s": 0.00022316304966807365}}, "total_s": 0.43384627904742956}, "object_springs": 18544, "controller_springs": 436} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674252.2554686, "t_invocation_s": 34.585762188, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674260.1159725, "t_invocation_s": 42.446266483, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674260.128895, "t_invocation_s": 42.459188784, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674260.1563218, "t_invocation_s": 42.486615921, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674260.1860638, "t_invocation_s": 42.516357965, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791674260.186953, "t_invocation_s": 42.517246586, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791674260.5773919, "t_invocation_s": 42.90768564, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.04875398590229452, "workspace_s": 0.18591963313519955, "objective_s": 0.00574837694875896, "stage_capture_s": 0.12640547705814242, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007116089109331369, "complete_s": 0.017303846077993512}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00012787897139787674, "complete_s": 0.000248027965426445}}, "total_s": 0.33578763413242996}, "object_springs": 15595, "controller_springs": 905} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791674260.5826201, "t_invocation_s": 42.912913705, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791674265.8925102, "t_invocation_s": 48.222804033, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791674265.8931148, "t_invocation_s": 48.223408576, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791674265.9224753, "t_invocation_s": 48.252769334, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791674265.924515, "t_invocation_s": 48.254808719, "generation": 21, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 189} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8dcdf44980de31313d555ba630bf853d39f0ae8f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c32dc75b383e2fda5b14fc24d5fda7060eda9a1d0289c47ff6ccf6a3b341d4fd +size 30929 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8e60299040f77530827925a340c6e9af13e4f48c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:669012a5262f275f0d3bf38f31b644cd9b49b838cdf4df7f2785c69616ae437d +size 27654 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/told.json new file mode 100644 index 0000000000000000000000000000000000000000..bc800f992b34286a47b79a9bbcc0c1b323dde1c5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g021/told.json @@ -0,0 +1,60 @@ +{ + "generation": 21, + "told_scores": [ + 0.0009405624598647371, + 0.0010489702670683928, + 0.0011529616478431301, + 0.0010290714887102644, + 0.000994351719764048, + 0.0012271180803323962, + 0.0009612957407557263, + 0.0009553697408148981, + 0.0010438058203907329, + 0.0009763666730244405, + 0.0011713629268372266 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 242, + "told_asks_total": 242, + "champion": { + "generation": 17, + "ask_index": 2, + "global_ask_index": 189, + "score": 0.0008811011356280267, + "observation_score": 0.00048294550972000094, + "normalized": [ + 0.40741435530086423, + 0.6456333257253934, + 0.9711200047881823, + 0.4914555890257542, + 0.9166382413494617, + 0.47425014868348975, + 0.014339451567955325, + 0.05112994837876139, + 0.02232750488176065, + 0.08743348914372356, + 0.9980459181072475, + 0.6390175534874003 + ], + "settings": { + "spring_y": 40741.435530086426, + "object_radius_m": 0.03582533302901574, + "object_max_neighbours": 48, + "controller_radius_m": 0.0444018912318028, + "controller_max_neighbours": 74, + "ground_restitution": 0.47425014868348975, + "ground_friction": 0.02867890313591065, + "object_restitution": 0.05112994837876139, + "object_friction": 0.0446550097635213, + "collision_distance_m": 0.013497339565748943, + "drag_damping": 19.96091836214495, + "dashpot_damping": 127.80351069748006 + } + }, + "pycma": { + "countiter": 22, + "countevals": 242, + "sigma": 0.1769963580018495 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..d2a972f7fa1f14eb48c90d01bb82c77197748872 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d8cde8444c9b7c1a38f8134333d8db13ac998ec62c86981288fb0883179f5e9 +size 73350 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..b64c453593957431208b4bb09358fc1f13357940 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:245dffff627c6183fb1cd243316222bb4da2e7e68c7a611c65ae1b39b85ac057 +size 320688 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..fef2120efe47be5ee288d4b456f403989cf52a48 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 0, + "global_ask_index": 242, + "normalized": [ + 0.47325367740893937, + 0.7312570706823973, + 0.7064931608049475, + 0.6577464038473916, + 0.5280258650380134, + 0.541278280464396, + 0.02243965093601169, + 0.42088329784596146, + 0.23568356278386007, + 0.14023485251723583, + 0.7466771480345572, + 0.8782350553354225 + ], + "settings": { + "spring_y": 47325.36774089394, + "object_radius_m": 0.039250282827295896, + "object_max_neighbours": 38, + "controller_radius_m": 0.05604224826931742, + "controller_max_neighbours": 46, + "ground_restitution": 0.541278280464396, + "ground_friction": 0.04487930187202338, + "object_restitution": 0.42088329784596146, + "object_friction": 0.47136712556772015, + "collision_distance_m": 0.015609394100689435, + "drag_damping": 14.933542960691144, + "dashpot_damping": 175.6470110670845 + }, + "topology": { + "object_springs": 14510, + "controller_springs": 1370, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03223638981580734 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.055759552866220474 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 212, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 736, + "hand_B": 634 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.583146482938901, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0441801818087697, + "workspace_s": 0.2694796889554709, + "objective_s": 0.0056199380196630955, + "stage_capture_s": 0.1261347651015967, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007595786824822426, + "complete_s": 0.017577769001945853 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.476719424128532e-05, + "complete_s": 0.0002231411635875702 + } + }, + "total_s": 0.4192179930396378 + } + } + }, + "wall_time_s": 8.467054523993284, + "outcome": "finite", + "score": 0.0011146869756994567, + "tell_score": 0.0011146869756994567, + "observation_score": 0.000721162036901208, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..e425170b2772dd6ea37c27f2035b7bc6e9aaef3f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d4c299e2d56d5473de05613e20ae9091b87193cc7223ec430f9af98f1f19b82 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..357ce4e68d5b88bcb6cfadaa2b39e2ecdfeed37b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:347fdcb0edf3c5c9d974169d8a1f6a997c54489780713697f5096ef2102f94ef +size 86406 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..823a991d01b2af9eba1e5553ea5de180777b7feb --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92f5fe6825e1951f0e95d8c698812de9c931e907a4438d45114a172fdbd8c8c3 +size 385628 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..0a10a122ba8208b8608ca66961936a6b394e2135 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 1, + "global_ask_index": 243, + "normalized": [ + 0.4597568039836705, + 0.8321451478988044, + 0.9340562430858969, + 0.5701510363010919, + 0.6709171063478693, + 0.48687696445779083, + 0.054578536215863435, + 0.36884991046146154, + 0.11356808667914484, + 0.001953966898652597, + 0.9593590797364752, + 0.9976793594714984 + ], + "settings": { + "spring_y": 45975.680398367054, + "object_radius_m": 0.04328580591595218, + "object_max_neighbours": 47, + "controller_radius_m": 0.049910572541076434, + "controller_max_neighbours": 56, + "ground_restitution": 0.48687696445779083, + "ground_friction": 0.10915707243172687, + "object_restitution": 0.36884991046146154, + "object_friction": 0.22713617335828967, + "collision_distance_m": 0.010078158675946105, + "drag_damping": 19.187181594729502, + "dashpot_damping": 199.53587189429967 + }, + "topology": { + "object_springs": 17796, + "controller_springs": 1331, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03979696333408356 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.049897827208042145 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 215, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 725, + "hand_B": 606 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.583146482938901, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04835708695463836, + "workspace_s": 0.19995941105298698, + "objective_s": 0.0055844050366431475, + "stage_capture_s": 0.12528509995900095, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006699386052787304, + "complete_s": 0.017478368943557143 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.976094588637352e-05, + "complete_s": 0.00026142410933971405 + } + }, + "total_s": 0.34874275512993336 + } + } + }, + "wall_time_s": 8.005519335856661, + "outcome": "finite", + "score": 0.0009099694054603175, + "tell_score": 0.0009099694054603175, + "observation_score": 0.0005476397313913776, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..a00ec7b2b9d08f1d67a997666753a7359174979f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceecc13a3e98cd9e9996ec7acd140ef44792391001a339bc2d36803b331327a2 +size 2528922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..c5329d58b9720474a408f4096f2e82b71804d11e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49fde01ed02dea65a29bb1940bdff6f1bd18c1f9702f639683155664c225a654 +size 85894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..9f318518a9f0af191982f4041d80dbb058ead591 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eadd09d8fd18a744b1e0ad7ca31057250bd6ecd494162a14c02a9f2fc881ee2a +size 383228 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ded850dd21f2d5d01223698f0835d5d731d94b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 2, + "global_ask_index": 244, + "normalized": [ + 0.4636824229746066, + 0.6225293261207485, + 0.9995657472229514, + 0.37494836988702723, + 0.7595983747227396, + 0.4947743686621053, + 0.3010419561032304, + 0.4373324852827783, + 0.01872695407938033, + 0.029685941058267645, + 0.8967611871045097, + 0.8772602141831204 + ], + "settings": { + "spring_y": 46368.24229746066, + "object_radius_m": 0.03490117304482994, + "object_max_neighbours": 49, + "controller_radius_m": 0.036246385892091906, + "controller_max_neighbours": 63, + "ground_restitution": 0.4947743686621053, + "ground_friction": 0.6020839122064608, + "object_restitution": 0.4373324852827783, + "object_friction": 0.03745390815876066, + "collision_distance_m": 0.011187437642330706, + "drag_damping": 17.935223742090194, + "dashpot_damping": 175.4520428366241 + }, + "topology": { + "object_springs": 18486, + "controller_springs": 521, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.034895334392786026 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.036169737577438354 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 181, + "controls_without_attachment": 13, + "attachments_by_hand": { + "hand_A": 339, + "hand_B": 182 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.027829098980874, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.12958480510860682, + "workspace_s": 0.1993658149149269, + "objective_s": 0.005596115021035075, + "stage_capture_s": 0.12337007094174623, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007599471136927605, + "complete_s": 0.018472349969670177 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010272697545588017, + "complete_s": 0.00024025700986385345 + } + }, + "total_s": 0.3472232259809971 + } + } + }, + "wall_time_s": 8.918994368985295, + "outcome": "finite", + "score": 0.0009444165919018746, + "tell_score": 0.0009444165919018746, + "observation_score": 0.00048632922921023404, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..d26ee200ee9bed6db2dcb92a37af299ceb4f61fa --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82bb775201b0c8863a4cda8e498b0a96fcbe32703d85575bd61fbf584e6892b7 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..6b3a1177b93ed4cc97ff171f0656cc67038b58eb --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4386cc7f3249fe4969df659ce5df5a896fcdf0a5dfcd91a9c5f1117b72e11b47 +size 83922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..76c59e7f87d213592090425b6970bf4afb1c02a0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06d7d6646214bb1a00a6ff819723478d04a2843f371d303a884dc5b16b703408 +size 373544 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..b3aa8f7faae6201417204a89b496566e53ae92fd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 3, + "global_ask_index": 245, + "normalized": [ + 0.6534047507476164, + 0.9987100296635023, + 0.9476034024919066, + 0.43009875268688125, + 0.7905613781701536, + 0.924501213142976, + 0.3251598518553353, + 0.5745950317427899, + 0.4861175743660159, + 0.04595772666686529, + 0.835328268921563, + 0.8462600313226829 + ], + "settings": { + "spring_y": 65340.47507476164, + "object_radius_m": 0.04994840118654009, + "object_max_neighbours": 47, + "controller_radius_m": 0.04010691268808169, + "controller_max_neighbours": 65, + "ground_restitution": 0.924501213142976, + "ground_friction": 0.6503197037106706, + "object_restitution": 0.5745950317427899, + "object_friction": 0.9722351487320318, + "collision_distance_m": 0.011838309066674612, + "drag_damping": 16.70656537843126, + "dashpot_damping": 169.2520062645366 + }, + "topology": { + "object_springs": 17796, + "controller_springs": 727, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03979696333408356 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.0400795117020607 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 199, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 460, + "hand_B": 267 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.027829098980874, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.04927332000806928, + "workspace_s": 0.19424105808138847, + "objective_s": 0.005702710943296552, + "stage_capture_s": 0.12366557610221207, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007097380002960563, + "complete_s": 0.017763925017789006 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011054310016334057, + "complete_s": 0.00024789897724986076 + } + }, + "total_s": 0.34179165307432413 + } + } + }, + "wall_time_s": 8.445480276830494, + "outcome": "finite", + "score": 0.0010463117894413312, + "tell_score": 0.0010463117894413312, + "observation_score": 0.000514530963443415, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..255d4725f71043b37a06fd8302d3b899d5636d75 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c785d414035427f63d9a182d6bdc276d6a953824bd0bc202fb37c3578389597e +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..8ad18831c1bf53edae087eebc9272e37c36d4945 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c40bfab94ad4f09a6952b8b0bf86d1118f68b4b81617e8c9879215f516d5861 +size 77494 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..4bec44d5f395c5c6ac7f0d41be7a34b2ec493827 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7554109abdd52818282814e89ac83cdd2fc7fbbe4bd53ff122989c51e08d2aa +size 341324 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..15ec1adadf3bce3993e2661d407a2e90b612996d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 4, + "global_ask_index": 246, + "normalized": [ + 0.6663733077117738, + 0.9606514100874993, + 0.7775370797683191, + 0.5404296589366162, + 0.8508651703353348, + 0.661381914935073, + 0.06048982301659074, + 0.4645697328137423, + 6.823917288350726e-05, + 0.23359887158072612, + 0.8391063368084688, + 0.756921912192204 + ], + "settings": { + "spring_y": 66637.33077117738, + "object_radius_m": 0.04842605640349998, + "object_max_neighbours": 41, + "controller_radius_m": 0.04783007612556314, + "controller_max_neighbours": 69, + "ground_restitution": 0.661381914935073, + "ground_friction": 0.12097964603318148, + "object_restitution": 0.4645697328137423, + "object_friction": 0.0001364783457670145, + "collision_distance_m": 0.019343954863229047, + "drag_damping": 16.782126736169374, + "dashpot_damping": 151.38438243844078 + }, + "topology": { + "object_springs": 15599, + "controller_springs": 1313, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03524480387568474 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04782599210739136 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 226, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 735, + "hand_B": 578 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.720425922889262, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.049406763166189194, + "workspace_s": 0.195927653927356, + "objective_s": 0.005996339023113251, + "stage_capture_s": 0.12757044401951134, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008147279033437371, + "complete_s": 0.018400014145299792 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010729418136179447, + "complete_s": 0.00023731309920549393 + } + }, + "total_s": 0.34830256295390427 + } + } + }, + "wall_time_s": 8.533075605053455, + "outcome": "finite", + "score": 0.001038537108810721, + "tell_score": 0.001038537108810721, + "observation_score": 0.0005268328764615533, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..0294c181a360851324df2359635adcf8c43f41ae --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73110bb4901d5eb88abf213613a4bbdf7439ee97c9dbfd1f766cb684912ddf1c +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..ecb0f454ea03ed5908b86949fea120715e093d13 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4e1e498a8cdc53a33a4518646de9fa4b9f7e2e7c6beb76494d27ccdcbf1c295 +size 79794 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..84c467d1ca7780d204d5c5e7ba69270c3f89f573 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a66fa5f357dbeed50252e9fe4da43c40254c295251d09bf7a7a3fb29dc58778 +size 352588 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..a31e07ceb283c4d9256fb6388e5686ae0e601417 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 5, + "global_ask_index": 247, + "normalized": [ + 0.45543832586229815, + 0.8249030702247956, + 0.8994610256672427, + 0.4103680626427595, + 0.2940385402131419, + 0.534842965647762, + 0.001070272676056806, + 0.000315171911216412, + 0.20492661218031089, + 0.02033516389012367, + 0.8388079952769733, + 0.9513864662575586 + ], + "settings": { + "spring_y": 45543.832586229815, + "object_radius_m": 0.04299612280899182, + "object_max_neighbours": 45, + "controller_radius_m": 0.038725764384993165, + "controller_max_neighbours": 30, + "ground_restitution": 0.534842965647762, + "ground_friction": 0.002140545352113612, + "object_restitution": 0.000315171911216412, + "object_friction": 0.40985322436062177, + "collision_distance_m": 0.010813406555604947, + "drag_damping": 16.776159905539465, + "dashpot_damping": 190.27729325151174 + }, + "topology": { + "object_springs": 17059, + "controller_springs": 416, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03765278309583664 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03867189958691597 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 150, + "controls_without_attachment": 7, + "attachments_by_hand": { + "hand_A": 249, + "hand_B": 167 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.720425922889262, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 2, + "wave_members": [ + 4, + 5 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.048228621017187834, + "workspace_s": 0.19606680888682604, + "objective_s": 0.005512424977496266, + "stage_capture_s": 0.12347045703791082, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007256395881995559, + "complete_s": 0.017825069837272167 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.609898552298546e-05, + "complete_s": 0.0002497960813343525 + } + }, + "total_s": 0.34329474880360067 + } + } + }, + "wall_time_s": 8.137984197121114, + "outcome": "finite", + "score": 0.0011359656095891704, + "tell_score": 0.0011359656095891704, + "observation_score": 0.0006613662777628129, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..0978062b9c797edd18638a7e1569d9a4dd2f816c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7570ff0b1cb8caf8d505f2088987a67fec34d5621a37feb91b0e0717438718d +size 2528922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..79e1e1cbd5364bc17001b2b426ef47f9ec71d266 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4262903ca5a2ae29be0261895f1b333825765d7ac43921be16577a281835308b +size 86866 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..1c4a5e0abb7a284637644e5fa26063e2f846a6f6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b099bc286aed237561133ace23e08cc2cc84a1ca359b1a828e75effa2699bb7b +size 388048 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..c4786edb78766aec28208f30b89aa0375b589ac0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 6, + "global_ask_index": 248, + "normalized": [ + 0.4876581872729195, + 0.977785280754713, + 0.9968451240912407, + 0.4230240049317643, + 0.8226086854902613, + 0.7274563306615327, + 0.1578815815069594, + 0.43479101793717556, + 0.019992759866821547, + 0.08097573278852857, + 0.9119518748515071, + 0.9880572367380609 + ], + "settings": { + "spring_y": 48765.818727291946, + "object_radius_m": 0.04911141123018852, + "object_max_neighbours": 49, + "controller_radius_m": 0.039611680345223506, + "controller_max_neighbours": 67, + "ground_restitution": 0.7274563306615327, + "ground_friction": 0.3157631630139188, + "object_restitution": 0.43479101793717556, + "object_friction": 0.039985519733643095, + "collision_distance_m": 0.013239029311541143, + "drag_damping": 18.239037497030143, + "dashpot_damping": 197.61144734761217 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 704, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03955531120300293 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 197, + "controls_without_attachment": 4, + "attachments_by_hand": { + "hand_A": 454, + "hand_B": 250 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.11701539088972, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05376709089614451, + "workspace_s": 0.20399074209854007, + "objective_s": 0.005659298971295357, + "stage_capture_s": 0.12339335796423256, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007250312948599458, + "complete_s": 0.01812040782533586 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.604101069271564e-05, + "complete_s": 0.0002152961678802967 + } + }, + "total_s": 0.35154766612686217 + } + } + }, + "wall_time_s": 8.955907992785797, + "outcome": "finite", + "score": 0.000975570850860391, + "tell_score": 0.000975570850860391, + "observation_score": 0.0005287961676355704, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..731b43fa98a4f0d7107a34e00b5d40769cfb9fa6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aab0a6e9087d4b8a2a3f6013be23ff2dc55b79b96c77d1dc98f761bd469bd5c +size 2528882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..7312bce1921a9c4dc894e1e41a6d08f90f9d5910 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c30bd3ffa320e63be12f9314f1d249b7ec2c2e0195628cab3b99584e83d43ff9 +size 91546 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..ed179e49bef4eb7e02c3cd8c90a20a51f5a38177 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2374ac7479c5afd50ea15c442222f7978796d5fd8adfbf641d035ec5abaa7c07 +size 411508 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..f0be051e68cd5113fe2a2933e7cbffc7d964d8de --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 7, + "global_ask_index": 249, + "normalized": [ + 0.7597599447506591, + 0.6278369128536845, + 0.9996407337577283, + 0.7020856143886637, + 0.8166223512190712, + 0.7416345036051877, + 0.1077044796430843, + 0.35077798846033426, + 0.20374830974521266, + 0.0015045842686843033, + 0.9123115526792327, + 0.9993090443385093 + ], + "settings": { + "spring_y": 75975.9944750659, + "object_radius_m": 0.03511347651414738, + "object_max_neighbours": 49, + "controller_radius_m": 0.059145993007206465, + "controller_max_neighbours": 67, + "ground_restitution": 0.7416345036051877, + "ground_friction": 0.2154089592861686, + "object_restitution": 0.35077798846033426, + "object_friction": 0.4074966194904253, + "collision_distance_m": 0.010060183370747372, + "drag_damping": 18.246231053584655, + "dashpot_damping": 199.86180886770185 + }, + "topology": { + "object_springs": 18490, + "controller_springs": 1931, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03510051593184471 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05904529243707657 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 256, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1059, + "hand_B": 872 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.11701539088972, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 3, + "wave_members": [ + 6, + 7 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05244820099323988, + "workspace_s": 0.21028638910502195, + "objective_s": 0.005619402974843979, + "stage_capture_s": 0.12325847498141229, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007072855019941926, + "complete_s": 0.01794078992679715 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010080006904900074, + "complete_s": 0.00022207503207027912 + } + }, + "total_s": 0.35751898819580674 + } + } + }, + "wall_time_s": 8.552945327013731, + "outcome": "finite", + "score": 0.0009867267997540883, + "tell_score": 0.0009867267997540883, + "observation_score": 0.0005577837109962638, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..ba89e7664dbf473e8219465a136816974fb8c8ba --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:799b60389bbcbc4886c40976127a477852fc10c4539d61f67d59b448c711408f +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..1819caece32412412e83e24bce6f109abbf37a17 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd00714e43ef226e001b8d06e308b40860f3215bcccdad4f0436681c99dcd234 +size 85518 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b921225c79758742f7d07bca5bf48ba6675ae30 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5dbfbc8dceaa3bc35174159e5c71c593682bcf15b45e93b97add79646611be +size 381468 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec344fc6c5543787de1ea7b51436ac36e740c15 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 8, + "global_ask_index": 250, + "normalized": [ + 0.45510182970351304, + 0.9985636815284246, + 0.8927808486637329, + 0.8665868017651197, + 0.744032423444504, + 0.5329966240932779, + 0.26104381491229595, + 0.7078320668368109, + 0.43873205109283586, + 0.0006671771523845844, + 0.9910404152756102, + 0.9003748495317109 + ], + "settings": { + "spring_y": 45510.18297035131, + "object_radius_m": 0.049942547261136984, + "object_max_neighbours": 45, + "controller_radius_m": 0.07066107612355839, + "controller_max_neighbours": 62, + "ground_restitution": 0.5329966240932779, + "ground_friction": 0.5220876298245919, + "object_restitution": 0.7078320668368109, + "object_friction": 0.8774641021856717, + "collision_distance_m": 0.010026687086095384, + "drag_damping": 19.8208083055122, + "dashpot_damping": 180.07496990634218 + }, + "topology": { + "object_springs": 17059, + "controller_springs": 1860, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03765278309583664 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.067923903465271 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 248, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 992, + "hand_B": 868 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.920947261154652, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05222897999919951, + "workspace_s": 0.2035590629093349, + "objective_s": 0.005674401996657252, + "stage_capture_s": 0.12686860212124884, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0074689071625471115, + "complete_s": 0.018089242046698928 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.413808584213257e-05, + "complete_s": 0.00022045010700821877 + } + }, + "total_s": 0.35458603291772306 + } + } + }, + "wall_time_s": 8.839902992825955, + "outcome": "finite", + "score": 0.000995368012616552, + "tell_score": 0.000995368012616552, + "observation_score": 0.0006681249936628976, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..ba1ff99f38f0b0f8e3f28e6d3093e760452f4fde --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1da68190ed847503a466e9b70795011eb6fba1bfcf04868704349a4e57cb0d2d +size 2528914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..fce0b3659b29aac270396e4a913eb2d82f1caf4d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12d286ac7feb505e59f6ea972259bb7d8148388279b41d110838c456e5c2af57 +size 89462 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..61e274fb1d96db7b0e30d4d9c6f024f40cc828e8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d66c6629012c0343dd2dd4a284103dd26f7e4ee09053a75336421fed82ffefc9 +size 400964 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c524ae1afe63d508636c2050121109417bd199 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 22, + "ask_index": 9, + "global_ask_index": 251, + "normalized": [ + 0.2107887631941373, + 0.8461798321489694, + 0.9999845711368185, + 0.9239847989117634, + 0.5136498079488212, + 0.6659792311059733, + 0.029789824934932707, + 0.5353309533730461, + 0.5645765702740106, + 0.014818972906749791, + 0.8415097808785929, + 0.8215191680924018 + ], + "settings": { + "spring_y": 21078.876319413732, + "object_radius_m": 0.04384719328595878, + "object_max_neighbours": 49, + "controller_radius_m": 0.07467893592382344, + "controller_max_neighbours": 45, + "ground_restitution": 0.6659792311059733, + "ground_friction": 0.059579649869865414, + "object_restitution": 0.5353309533730461, + "object_friction": 1.1291531405480213, + "collision_distance_m": 0.010592758916269991, + "drag_damping": 16.830195617571857, + "dashpot_damping": 164.30383361848035 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1350, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.060621023178100586 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 211, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 720, + "hand_B": 630 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.920947261154652, + "transaction": { + "stage": "cma", + "populations": { + "num_original": 369, + "num_surface": 724, + "num_all": 729 + }, + "clock": { + "period_s": "1/30", + "num_substeps": 667, + "substep_dt_s": 4.9975012493753125e-05, + "consumed_substep_dt_f32": 4.997501309844665e-05, + "consumed_interval_minus_period_s": 4.0333058374623455e-10, + "transitions": 491, + "consumed_total_minus_period_total_s": 1.9803531661940118e-07, + "source_literal_period_s_not_used": 0.033350000000000005 + }, + "transition": { + "forward_reduction": "atomic", + "backward_reduction": "atomic", + "capture": true + }, + "history_active": true, + "forwards": 491, + "backwards": 0, + "updates": 0, + "reset": "q0/v0 and fresh objective history", + "carry": "same detached pre-update endpoint", + "supervision": { + "P": 1258, + "pairs": 369, + "D_C": 1136, + "D_T": 285, + "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167" + } + }, + "workspace_reused": false, + "dynamics_graph_builds": 1, + "loss_graph_builds": 1, + "loss_host_readbacks": 982, + "warp_version": "1.16.0", + "warm_launches": { + "dynamics": 1, + "objective": 4 + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "invocation": 1, + "wave": 4, + "wave_members": [ + 8, + 9 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0502328178845346, + "workspace_s": 0.20394013496115804, + "objective_s": 0.005628893151879311, + "stage_capture_s": 0.2103268129285425, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007260645041242242, + "complete_s": 0.018116055987775326 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.29760280996561e-05, + "complete_s": 0.00021969107910990715 + } + }, + "total_s": 0.43840720201842487 + } + } + }, + "wall_time_s": 8.43542813602835, + "outcome": "finite", + "score": 0.0010485371984702643, + "tell_score": 0.0010485371984702643, + "observation_score": 0.0007547727174913015, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..93c77d85488a7ad657a9b08c5bb01546a4ac28be --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8129c90cc0a9544fe3995c87ca45fc3d04da4336a837f34c63e00de39fddc2fe +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..913fcf637a29f11b4306cd0a4696f5fdcb0a3729 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g022/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a53dc3b6cf4fff86f0aad815817860c2b73df72948f41d04b5d0c4fe774e7366 +size 92386