sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 102/173

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1665a22276c9595cca91bd6da6357dae019ac101e615a3bad23a4f4afab67188
+size 2528886

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a06/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee98759a6a39ce2fd2eb9fac3e5d68913c84fff2cec07b3e7091855418067fce
+size 88802

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a06/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa38720a6593e42f48a0f222f12182c9a059e1cd3d201e8681e5a6aa5002b2ff
+size 397948

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a06/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 104,
+  "ask_index": 6,
+  "global_ask_index": 1150,
+  "normalized": [
+    0.4004312865782279,
+    0.9795942353727296,
+    0.99991661011926,
+    0.5158847233497383,
+    0.8756492587647376,
+    0.8042607477387638,
+    0.32680765120099453,
+    0.567871153641251,
+    0.1955947711195587,
+    0.8108536304935857,
+    0.9996188655982087,
+    0.9999875578080261
+  ],
+  "settings": {
+    "spring_y": 40043.12865782279,
+    "object_radius_m": 0.049183769414909186,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04611193063448169,
+    "controller_max_neighbours": 71,
+    "ground_restitution": 0.8042607477387638,
+    "ground_friction": 0.6536153024019891,
+    "object_restitution": 0.567871153641251,
+    "object_friction": 0.3911895422391174,
+    "collision_distance_m": 0.04243414521974343,
+    "drag_damping": 19.992377311964173,
+    "dashpot_damping": 199.99751156160522
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1199,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04611149802803993
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 223,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 681,
+      "hand_B": 518
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.045097470982,
+    "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": 0.05725826881825924,
+        "workspace_s": 0.21763304085470736,
+        "objective_s": 0.005835462128743529,
+        "stage_capture_s": 0.12973485281690955,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007342830998823047,
+            "complete_s": 0.01822167495265603
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010111392475664616,
+            "complete_s": 0.00023533985950052738
+          }
+        },
+        "total_s": 0.37183239590376616
+      }
+    }
+  },
+  "wall_time_s": 8.99886832991615,
+  "outcome": "finite",
+  "score": 0.0008626873738617521,
+  "tell_score": 0.0008626873738617521,
+  "observation_score": 0.00050217503227854,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a06/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522251801b27c07fa218829dd6db12bb4f431e6688f6b879e202d63da4352d5f
+size 2528870

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a07/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287f49495162b0c1b476bb090ba4b98c0401efd7df55cd59105471db3f0a80bc
+size 88610

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a07/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d487c17f2f3334d7c73f4c866b1b62e83a451edff4808a6c4a0ea72663927b
+size 396868

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 104,
+  "ask_index": 7,
+  "global_ask_index": 1151,
+  "normalized": [
+    0.41464203370538555,
+    0.9802283066950269,
+    0.9999400362711749,
+    0.5076803052414582,
+    0.8643233700833893,
+    0.8017841267721244,
+    0.25885016478010153,
+    0.5568680447805644,
+    0.19815310000548836,
+    0.8388134882780166,
+    0.9998359478643699,
+    0.9999848995459794
+  ],
+  "settings": {
+    "spring_y": 41464.203370538555,
+    "object_radius_m": 0.04920913226780108,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045537621366902085,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.8017841267721244,
+    "ground_friction": 0.5177003295602031,
+    "object_restitution": 0.5568680447805644,
+    "object_friction": 0.3963062000109767,
+    "collision_distance_m": 0.04355253953112067,
+    "drag_damping": 19.9967189572874,
+    "dashpot_damping": 199.99697990919586
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1145,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.045529358088970184
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 221,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 653,
+      "hand_B": 492
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.045097470982,
+    "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": 0.05160720692947507,
+        "workspace_s": 0.2957985680550337,
+        "objective_s": 0.005932487081736326,
+        "stage_capture_s": 0.12888885498978198,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.0074539161287248135,
+            "complete_s": 0.01833480899222195
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010041403584182262,
+            "complete_s": 0.0002377149648964405
+          }
+        },
+        "total_s": 0.4494081682059914
+      }
+    }
+  },
+  "wall_time_s": 8.572443939978257,
+  "outcome": "finite",
+  "score": 0.0008588061858576252,
+  "tell_score": 0.0008588061858576252,
+  "observation_score": 0.000496838488768385,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a07/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd07613e9b45175c7736b0afab4dff7f4e2f51222609b8974c6d166cb698e41b
+size 2528886

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a08/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e6090df9f7c88511e238a9fedef90470248b8789a89d37e63e189621f83ab4
+size 88414

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a08/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38519296cabe1d03c36fc980bd69d05772f12dbb2e9bcfba0f30a4f435c3aa96
+size 395840

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a08/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 104,
+  "ask_index": 8,
+  "global_ask_index": 1152,
+  "normalized": [
+    0.41936185897806677,
+    0.9802630864383924,
+    0.9997088276283845,
+    0.4987529896447681,
+    0.8699513546220647,
+    0.7770685092675143,
+    0.22012055692224008,
+    0.5529556314302113,
+    0.18949573477400591,
+    0.8305010506617753,
+    0.9994928597488223,
+    0.999929419429304
+  ],
+  "settings": {
+    "spring_y": 41936.185897806674,
+    "object_radius_m": 0.0492105234575357,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04491270927513377,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7770685092675143,
+    "ground_friction": 0.44024111384448017,
+    "object_restitution": 0.5529556314302113,
+    "object_friction": 0.37899146954801183,
+    "collision_distance_m": 0.04322004202647101,
+    "drag_damping": 19.989857194976445,
+    "dashpot_damping": 199.9858838858608
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1094,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04490669071674347
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 218,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 627,
+      "hand_B": 467
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.05206476803869,
+    "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": 0.05715835210867226,
+        "workspace_s": 0.2127309951465577,
+        "objective_s": 0.005984304938465357,
+        "stage_capture_s": 0.1293712391052395,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007484630914404988,
+            "complete_s": 0.0183609239757061
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011080713011324406,
+            "complete_s": 0.00022209505550563335
+          }
+        },
+        "total_s": 0.3668817230500281
+      }
+    }
+  },
+  "wall_time_s": 9.014672802062705,
+  "outcome": "finite",
+  "score": 0.0008784726113550433,
+  "tell_score": 0.0008784726113550433,
+  "observation_score": 0.0005034712303017054,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a08/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf1378bb2a3a10cd7dd84abf19e2470155e43bd7a8eefc82aaf5b3aa82865015
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a09/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9fcd757d6a52208ffb049cb723fca056aa9a53edfedba8bf158044b3f89b0bb
+size 88502

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a09/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d573312dbf019ba0ee6435ff7becfc276e81770204a49c6bbcdedef8a2aee41
+size 396444

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a09/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 104,
+  "ask_index": 9,
+  "global_ask_index": 1153,
+  "normalized": [
+    0.4182010635294523,
+    0.9946479526307496,
+    0.9996969230994904,
+    0.5039274400331489,
+    0.8851478744280221,
+    0.7616939979614629,
+    0.2612051043235664,
+    0.565357716532006,
+    0.19772797696339883,
+    0.7965275702304736,
+    0.9999996574274165,
+    0.999990376334971
+  ],
+  "settings": {
+    "spring_y": 41820.10635294523,
+    "object_radius_m": 0.04978591810522998,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04527492080232043,
+    "controller_max_neighbours": 71,
+    "ground_restitution": 0.7616939979614629,
+    "ground_friction": 0.5224102086471328,
+    "object_restitution": 0.565357716532006,
+    "object_friction": 0.39545595392679767,
+    "collision_distance_m": 0.041861102809218946,
+    "drag_damping": 19.99999314854833,
+    "dashpot_damping": 199.9980752669942
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1124,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.0452563501894474
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 645,
+      "hand_B": 479
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.05206476803869,
+    "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": 0.052903492003679276,
+        "workspace_s": 0.3056176560930908,
+        "objective_s": 0.0057322559878230095,
+        "stage_capture_s": 0.1316767439711839,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007608405081555247,
+            "complete_s": 0.01849868008866906
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.87101811915636e-05,
+            "complete_s": 0.00022461218759417534
+          }
+        },
+        "total_s": 0.46192653803154826
+      }
+    }
+  },
+  "wall_time_s": 8.593069531954825,
+  "outcome": "finite",
+  "score": 0.0008720221942500021,
+  "tell_score": 0.0008720221942500021,
+  "observation_score": 0.0005024172550128003,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a09/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff58869cca5388b93b57404b9566bf62dce051428c022e7fe3e113618daf8df
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a10/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0619f8b3b848132df8cb59c3cf3b427845b619a57e78f42d6980ad94d3e332fb
+size 88570

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a10/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab1fd3b67004b10810283e9c5fc77982d97128895a262ac29106a1e0dddf7e3
+size 396644

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a10/record.json

@@ -0,0 +1,148 @@
+{
+  "stage": "cma_ask",
+  "generation": 104,
+  "ask_index": 10,
+  "global_ask_index": 1154,
+  "normalized": [
+    0.4293364116755053,
+    0.9930558927231652,
+    0.9999158575277098,
+    0.5062161941949805,
+    0.8617268164850318,
+    0.7837542284068092,
+    0.28236948857455924,
+    0.5759230789474509,
+    0.18315479382139127,
+    0.8565555449528625,
+    0.9999995453555426,
+    0.9909056478635053
+  ],
+  "settings": {
+    "spring_y": 42933.64116755053,
+    "object_radius_m": 0.04972223570892661,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04543513359364864,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7837542284068092,
+    "ground_friction": 0.5647389771491185,
+    "object_restitution": 0.5759230789474509,
+    "object_friction": 0.36630958764278254,
+    "collision_distance_m": 0.0442622217981145,
+    "drag_damping": 19.999990907110853,
+    "dashpot_damping": 198.18112957270105
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1134,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04538724198937416
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 219,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 648,
+      "hand_B": 486
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 5.6446951469406486,
+    "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": 0.057105534011498094,
+        "workspace_s": 0.20876178494654596,
+        "objective_s": 0.005739080952480435,
+        "stage_capture_s": 0.12552962312474847,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007859647972509265,
+            "complete_s": 0.01873405114747584
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00012526591308414936,
+            "complete_s": 0.00025408598594367504
+          }
+        },
+        "total_s": 0.359204915817827
+      }
+    }
+  },
+  "wall_time_s": 6.074255593121052,
+  "outcome": "finite",
+  "score": 0.000855993429017955,
+  "tell_score": 0.000855993429017955,
+  "observation_score": 0.0004900010709909014,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/a10/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96abad291d843edffca148398f3a6aadea5bd21604e434dfb12a045e1743c5e
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/issued.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cbc66418046a0113673cb9233793bd77da07bfe2563423041dac642f3c7570f
+size 1184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/lifecycle.jsonl

@@ -0,0 +1,48 @@
+{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791678465.612552, "t_invocation_s": 0.000139911, "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": 1791678465.613235, "t_invocation_s": 0.000822967, "wave": 0, "members": [0, 1], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678466.1161304, "t_invocation_s": 0.503718593, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.054713702062144876, "workspace_s": 0.2875402809586376, "objective_s": 0.005878369091078639, "stage_capture_s": 0.1298585580661893, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007550388108938932, "complete_s": 0.018416264094412327}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010209414176642895, "complete_s": 0.00023789098486304283}}, "total_s": 0.4421111319679767}, "object_springs": 18544, "controller_springs": 1175}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678466.546154, "t_invocation_s": 0.933742292, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.051357917953282595, "workspace_s": 0.21503174188546836, "objective_s": 0.005881129996851087, "stage_capture_s": 0.12862417893484235, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007416429929435253, "complete_s": 0.018281493103131652}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010262592695653439, "complete_s": 0.000244170892983675}}, "total_s": 0.3682553318794817}, "object_springs": 18544, "controller_springs": 1159}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678466.5514026, "t_invocation_s": 0.938990723, "wave": 0, "members": [0, 1]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678474.593602, "t_invocation_s": 8.981190264, "wave": 0, "index": 0, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678474.6063066, "t_invocation_s": 8.993894782, "wave": 0, "index": 1, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678474.6339946, "t_invocation_s": 9.021582973, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678474.6642447, "t_invocation_s": 9.051833441, "wave": 0, "commit_order": [0, 1]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791678474.665087, "t_invocation_s": 9.052675058, "wave": 1, "members": [2, 3], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678475.1744955, "t_invocation_s": 9.562083917, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.14263607910834253, "workspace_s": 0.20923489099368453, "objective_s": 0.006064051995053887, "stage_capture_s": 0.12612766190432012, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007980401162058115, "complete_s": 0.018848564941436052}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010426994413137436, "complete_s": 0.0002311419229954481}}, "total_s": 0.3606815878301859}, "object_springs": 18544, "controller_springs": 1146}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678475.6975677, "t_invocation_s": 10.085156016, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.053813225124031305, "workspace_s": 0.30765910306945443, "objective_s": 0.005931315943598747, "stage_capture_s": 0.12568836193531752, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0080507081001997, "complete_s": 0.018945357063785195}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010131299495697021, "complete_s": 0.0002273570280522108}}, "total_s": 0.4586313480976969}, "object_springs": 18544, "controller_springs": 1131}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678475.702832, "t_invocation_s": 10.090419985, "wave": 1, "members": [2, 3]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678483.7693038, "t_invocation_s": 18.156892318, "wave": 1, "index": 2, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678483.782442, "t_invocation_s": 18.170030152, "wave": 1, "index": 3, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678483.811503, "t_invocation_s": 18.19909162, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678483.8410408, "t_invocation_s": 18.228629459, "wave": 1, "commit_order": [2, 3]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791678483.8418417, "t_invocation_s": 18.229429695, "wave": 2, "members": [4, 5], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678484.277119, "t_invocation_s": 18.664707267, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05740155000239611, "workspace_s": 0.21569087798707187, "objective_s": 0.0059649881441146135, "stage_capture_s": 0.13070261385291815, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008115865988656878, "complete_s": 0.018978643929585814}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.132386185228825e-05, "complete_s": 0.00022182287648320198}}, "total_s": 0.37172227702103555}, "object_springs": 18544, "controller_springs": 1179}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678484.7902691, "t_invocation_s": 19.177857618, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.053766914177685976, "workspace_s": 0.293417263077572, "objective_s": 0.005843890132382512, "stage_capture_s": 0.13090250291861594, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007637557107955217, "complete_s": 0.018503197003155947}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010570813901722431, "complete_s": 0.00022653304040431976}}, "total_s": 0.4490723100025207}, "object_springs": 18544, "controller_springs": 1183}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678484.795462, "t_invocation_s": 19.183049975, "wave": 2, "members": [4, 5]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678492.8550825, "t_invocation_s": 27.242670826, "wave": 2, "index": 4, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678492.867903, "t_invocation_s": 27.255491054, "wave": 2, "index": 5, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678492.895259, "t_invocation_s": 27.282847401, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678492.9222863, "t_invocation_s": 27.309874722, "wave": 2, "commit_order": [4, 5]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791678492.922997, "t_invocation_s": 27.310585071, "wave": 3, "members": [6, 7], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678493.357963, "t_invocation_s": 27.745551334, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05725826881825924, "workspace_s": 0.21763304085470736, "objective_s": 0.005835462128743529, "stage_capture_s": 0.12973485281690955, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007342830998823047, "complete_s": 0.01822167495265603}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010111392475664616, "complete_s": 0.00023533985950052738}}, "total_s": 0.37183239590376616}, "object_springs": 18544, "controller_springs": 1199}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678493.869486, "t_invocation_s": 28.257074465, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05160720692947507, "workspace_s": 0.2957985680550337, "objective_s": 0.005932487081736326, "stage_capture_s": 0.12888885498978198, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0074539161287248135, "complete_s": 0.01833480899222195}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010041403584182262, "complete_s": 0.0002377149648964405}}, "total_s": 0.4494081682059914}, "object_springs": 18544, "controller_springs": 1145}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678493.8747382, "t_invocation_s": 28.262326345, "wave": 3, "members": [6, 7]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678501.9285228, "t_invocation_s": 36.316111194, "wave": 3, "index": 6, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678501.9412198, "t_invocation_s": 36.328807775, "wave": 3, "index": 7, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678501.9707136, "t_invocation_s": 36.358302281, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678502.0016003, "t_invocation_s": 36.389188658, "wave": 3, "commit_order": [6, 7]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791678502.0024035, "t_invocation_s": 36.389991625, "wave": 4, "members": [8, 9], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678502.432276, "t_invocation_s": 36.819864234, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05715835210867226, "workspace_s": 0.2127309951465577, "objective_s": 0.005984304938465357, "stage_capture_s": 0.1293712391052395, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007484630914404988, "complete_s": 0.0183609239757061}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011080713011324406, "complete_s": 0.00022209505550563335}}, "total_s": 0.3668817230500281}, "object_springs": 18544, "controller_springs": 1094}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678502.9577773, "t_invocation_s": 37.345365401, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.052903492003679276, "workspace_s": 0.3056176560930908, "objective_s": 0.0057322559878230095, "stage_capture_s": 0.1316767439711839, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007608405081555247, "complete_s": 0.01849868008866906}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.87101811915636e-05, "complete_s": 0.00022461218759417534}}, "total_s": 0.46192653803154826}, "object_springs": 18544, "controller_springs": 1124}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678502.9629958, "t_invocation_s": 37.350583682, "wave": 4, "members": [8, 9]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678511.0235038, "t_invocation_s": 45.411092346, "wave": 4, "index": 8, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678511.036675, "t_invocation_s": 45.424263247, "wave": 4, "index": 9, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678511.0676236, "t_invocation_s": 45.455212284, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678511.0975864, "t_invocation_s": 45.485175146, "wave": 4, "commit_order": [8, 9]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791678511.098539, "t_invocation_s": 45.486127075, "wave": 5, "members": [10], "occupancy": 1}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791678511.520851, "t_invocation_s": 45.908439167, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.057105534011498094, "workspace_s": 0.20876178494654596, "objective_s": 0.005739080952480435, "stage_capture_s": 0.12552962312474847, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007859647972509265, "complete_s": 0.01873405114747584}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00012526591308414936, "complete_s": 0.00025408598594367504}}, "total_s": 0.359204915817827}, "object_springs": 18544, "controller_springs": 1134}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791678511.5261793, "t_invocation_s": 45.913767394, "wave": 5, "members": [10]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791678517.179473, "t_invocation_s": 51.567061544, "wave": 5, "index": 10, "arrival": 0}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791678517.1848223, "t_invocation_s": 51.572410342, "wave": 5, "drained": {"10": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791678517.211974, "t_invocation_s": 51.599562496, "wave": 5, "commit_order": [10]}
+{"invocation": 1, "kind": "told", "t_unix_s": 1791678517.214186, "t_invocation_s": 51.601774022, "generation": 104, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 1113}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/strategy_after_ask.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4112a4cfacae779bb78f55dbe2675ec69ed5f02a0c238e0ca2690ec2944795f
+size 31404

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/strategy_after_tell.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3605a4ba22366d784326b390193fd0b22da400b3ef51444383abd49cc1ceca7
+size 28138

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g104/told.json

@@ -0,0 +1,60 @@
+{
+  "generation": 104,
+  "told_scores": [
+    0.0008604705935109847,
+    0.000863336760843791,
+    0.0008580357117814063,
+    0.0008572565856283718,
+    0.0008594848899846013,
+    0.0008640575706262887,
+    0.0008626873738617521,
+    0.0008588061858576252,
+    0.0008784726113550433,
+    0.0008720221942500021,
+    0.000855993429017955
+  ],
+  "physical_failures": 0,
+  "physical_failures_total": 0,
+  "issued_asks_total": 1155,
+  "told_asks_total": 1155,
+  "champion": {
+    "generation": 101,
+    "ask_index": 2,
+    "global_ask_index": 1113,
+    "score": 0.0008540191302832801,
+    "observation_score": 0.0004936205652647209,
+    "normalized": [
+      0.41136633988458987,
+      0.9837964656684823,
+      0.9999553566842329,
+      0.5066780286067012,
+      0.8603335329551995,
+      0.7973120583566321,
+      0.3057286571837764,
+      0.551040961271233,
+      0.17501148935136496,
+      0.852615968146098,
+      0.9999988519016245,
+      0.9921895621772077
+    ],
+    "settings": {
+      "spring_y": 41136.63398845899,
+      "object_radius_m": 0.0493518586267393,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.04546746200246909,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7973120583566321,
+      "ground_friction": 0.6114573143675528,
+      "object_restitution": 0.551040961271233,
+      "object_friction": 0.3500229787027299,
+      "collision_distance_m": 0.04410463872584392,
+      "drag_damping": 19.99997703803249,
+      "dashpot_damping": 198.43791243544155
+    }
+  },
+  "pycma": {
+    "countiter": 105,
+    "countevals": 1155,
+    "sigma": 0.020985807839222555
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a00/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14a35a1b6096b7b86222e518934a413d312de1d46c108974a4d2538b6c0b4787
+size 88682

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a00/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08abf5e3164f053c88a917dfbc28e2004462e18eecdfd56231ad6543ee9bfdd5
+size 397284

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a00/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 0,
+  "global_ask_index": 1155,
+  "normalized": [
+    0.4376144374399008,
+    0.9892232128103151,
+    0.9999989345012916,
+    0.5114200832193904,
+    0.8420024916291785,
+    0.7931597511557801,
+    0.2890010010499672,
+    0.5905323334812522,
+    0.19608316859764033,
+    0.8329798230792652,
+    0.9995132973072784,
+    0.989647641928249
+  ],
+  "settings": {
+    "spring_y": 43761.44374399008,
+    "object_radius_m": 0.04956892851241261,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04579940582535733,
+    "controller_max_neighbours": 68,
+    "ground_restitution": 0.7931597511557801,
+    "ground_friction": 0.5780020020999344,
+    "object_restitution": 0.5905323334812522,
+    "object_friction": 0.39216633719528066,
+    "collision_distance_m": 0.04331919292317061,
+    "drag_damping": 19.99026594614557,
+    "dashpot_damping": 197.9295283856498
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1166,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04579569399356842
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 221,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 659,
+      "hand_B": 507
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.141716446029022,
+    "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": 0.12984563992358744,
+        "workspace_s": 0.21377375512383878,
+        "objective_s": 0.005941662006080151,
+        "stage_capture_s": 0.12931118602864444,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008227779995650053,
+            "complete_s": 0.01911915000528097
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001256680116057396,
+            "complete_s": 0.0002449601888656616
+          }
+        },
+        "total_s": 0.3685564480256289
+      }
+    }
+  },
+  "wall_time_s": 9.071752732852474,
+  "outcome": "finite",
+  "score": 0.0008643289029406423,
+  "tell_score": 0.0008643289029406423,
+  "observation_score": 0.0004959927472668129,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a00/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16b4fd9ac18003539c967290d45133c2db8ab25ab83c3ebde3486a6293030cac
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a01/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df79d62c57e5feda1e4a6a289795406c7fbeca6555f8db5e5a8299cb5e0917c
+size 88758

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a01/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3c6a900c103578ed6d4c192e6d18bea4d680f1080c0ae1a70459a786242483
+size 397728

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a01/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 1,
+  "global_ask_index": 1156,
+  "normalized": [
+    0.4189482598502253,
+    0.9939708098662959,
+    0.9998942939618286,
+    0.513286408769163,
+    0.8783013450672469,
+    0.7793736177050691,
+    0.2345796761501835,
+    0.5300236293162122,
+    0.19966648640241405,
+    0.8120531406135186,
+    0.9999801473778156,
+    0.9999985572684017
+  ],
+  "settings": {
+    "spring_y": 41894.82598502253,
+    "object_radius_m": 0.04975883239465184,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045930048613841416,
+    "controller_max_neighbours": 71,
+    "ground_restitution": 0.7793736177050691,
+    "ground_friction": 0.469159352300367,
+    "object_restitution": 0.5300236293162122,
+    "object_friction": 0.3993329728048281,
+    "collision_distance_m": 0.04248212562454075,
+    "drag_damping": 19.999602947556312,
+    "dashpot_damping": 199.99971145368033
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1188,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04592473804950714
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 223,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 676,
+      "hand_B": 512
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.141716446029022,
+    "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": 0.053687374806031585,
+        "workspace_s": 0.2079633150715381,
+        "objective_s": 0.005851581925526261,
+        "stage_capture_s": 0.12607750808820128,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007523871026933193,
+            "complete_s": 0.018387035932391882
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010719406418502331,
+            "complete_s": 0.00024366797879338264
+          }
+        },
+        "total_s": 0.3587124631740153
+      }
+    }
+  },
+  "wall_time_s": 8.575736855855212,
+  "outcome": "finite",
+  "score": 0.0008622053934461789,
+  "tell_score": 0.0008622053934461789,
+  "observation_score": 0.0004961060789755647,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a01/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954b88a1b5d6d4d77168f2764d093006b0d648bdcba076f629e1e06c449a0aa1
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a02/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b02bbdd5a76f2237e9ce6b007819187031c16d41f1af4d9763f3d380226207c
+size 88694

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a02/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4256dd407119e4b7ff1e4e30bf0b9927d266ee104c58c9da0a7a33192309da
+size 397348

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a02/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 2,
+  "global_ask_index": 1157,
+  "normalized": [
+    0.4161397106137406,
+    0.9825570682952806,
+    0.9988754604703451,
+    0.5101677269661063,
+    0.8742227132290461,
+    0.7897852177327273,
+    0.262338752200364,
+    0.5619266411191829,
+    0.21006193204143825,
+    0.8334999388933307,
+    0.9999989165709984,
+    0.9895975127283206
+  ],
+  "settings": {
+    "spring_y": 41613.97106137406,
+    "object_radius_m": 0.049302282731811226,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04571174088762745,
+    "controller_max_neighbours": 71,
+    "ground_restitution": 0.7897852177327273,
+    "ground_friction": 0.524677504400728,
+    "object_restitution": 0.5619266411191829,
+    "object_friction": 0.4201238640828765,
+    "collision_distance_m": 0.043339997555733235,
+    "drag_damping": 19.999978331419968,
+    "dashpot_damping": 197.91950254566413
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1169,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.045711539685726166
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 223,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 669,
+      "hand_B": 500
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.136187836993486,
+    "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": 0.0555615839548409,
+        "workspace_s": 0.20492055895738304,
+        "objective_s": 0.005621323129162192,
+        "stage_capture_s": 0.12572171981446445,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.0077933210413903,
+            "complete_s": 0.018659220077097416
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.67569649219513e-05,
+            "complete_s": 0.0002287339884787798
+          }
+        },
+        "total_s": 0.3553268739487976
+      }
+    }
+  },
+  "wall_time_s": 8.982081198133528,
+  "outcome": "finite",
+  "score": 0.0008618610453263898,
+  "tell_score": 0.0008618610453263898,
+  "observation_score": 0.0004949488902565039,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a02/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3e880cd9adfa24512c15b3eb4f197f85a48cb57e88cfec3b1906b2751629fb
+size 2528874

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a03/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974edbd1dcd4cc49df21f608a1799254c433d4b10e7e2b90c7e936e4d9db8e58
+size 88774

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a03/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac71c5b5269f841d4412459206f6e2da7828db66023b8b4fe5c74a22802ecb2
+size 397828

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a03/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 3,
+  "global_ask_index": 1158,
+  "normalized": [
+    0.41286653833454595,
+    0.9795911428134635,
+    0.998344594863625,
+    0.5144989649601039,
+    0.8767241159391355,
+    0.808539014298371,
+    0.2982131141137162,
+    0.5578988937752297,
+    0.22845672879375523,
+    0.864924341497823,
+    0.9996314953481376,
+    0.999498680291188
+  ],
+  "settings": {
+    "spring_y": 41286.6538334546,
+    "object_radius_m": 0.04918364571253854,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.046014927547207284,
+    "controller_max_neighbours": 71,
+    "ground_restitution": 0.808539014298371,
+    "ground_friction": 0.5964262282274324,
+    "object_restitution": 0.5578988937752297,
+    "object_friction": 0.45691345758751045,
+    "collision_distance_m": 0.04459697365991293,
+    "drag_damping": 19.99262990696275,
+    "dashpot_damping": 199.8997360582376
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1193,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.045986492186784744
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 223,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 678,
+      "hand_B": 515
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.136187836993486,
+    "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": 0.05341556784696877,
+        "workspace_s": 0.2085994710214436,
+        "objective_s": 0.005686669843271375,
+        "stage_capture_s": 0.12494685896672308,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007556522032245994,
+            "complete_s": 0.018401280976831913
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.3827024102211e-05,
+            "complete_s": 0.00022459798492491245
+          }
+        },
+        "total_s": 0.3580290828831494
+      }
+    }
+  },
+  "wall_time_s": 8.569470647955313,
+  "outcome": "finite",
+  "score": 0.000864113400931031,
+  "tell_score": 0.000864113400931031,
+  "observation_score": 0.0004994010628131597,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a03/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e326faaf5559b11c8169f4df2f41090582a9a38cd435b121ea5e083422a9bf78
+size 2528874

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a04/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29692c6021f9f1c5ceac6b2a4e7b48ef67a6e36c7578c440ccdd53dc93c1e373
+size 88466

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a04/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dfd3c08bcdef94f36bee3d7076a92651b0d4b132057ae09682bc2701158484b
+size 396124

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a04/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 4,
+  "global_ask_index": 1159,
+  "normalized": [
+    0.42469488892170554,
+    0.9723050886702654,
+    0.9988274961622923,
+    0.4993999333866145,
+    0.9115989958614573,
+    0.7857194623764955,
+    0.22978975183947903,
+    0.5517973347234061,
+    0.20571929685685422,
+    0.8074895706243556,
+    0.999360999797879,
+    0.9953786846216829
+  ],
+  "settings": {
+    "spring_y": 42469.48889217056,
+    "object_radius_m": 0.04889220354681062,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04495799533706302,
+    "controller_max_neighbours": 73,
+    "ground_restitution": 0.7857194623764955,
+    "ground_friction": 0.45957950367895806,
+    "object_restitution": 0.5517973347234061,
+    "object_friction": 0.41143859371370844,
+    "collision_distance_m": 0.04229958282497422,
+    "drag_damping": 19.98721999595758,
+    "dashpot_damping": 199.07573692433658
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1108,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04494680091738701
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 219,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 636,
+      "hand_B": 472
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.054373670835048,
+    "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": 0.056687735952436924,
+        "workspace_s": 0.21142207295633852,
+        "objective_s": 0.005791623145341873,
+        "stage_capture_s": 0.13006550399586558,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008045582100749016,
+            "complete_s": 0.01891848910599947
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00013030506670475006,
+            "complete_s": 0.00027343607507646084
+          }
+        },
+        "total_s": 0.3666758600156754
+      }
+    }
+  },
+  "wall_time_s": 9.000040858052671,
+  "outcome": "finite",
+  "score": 0.0008759683069279616,
+  "tell_score": 0.0008759683069279616,
+  "observation_score": 0.0004979684119254574,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a04/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60eb8c6cbbd338d10a639096d6a76979f674af288c1602b5925961a0981871b3
+size 2528910

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a05/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39f62944f728dc9bd1985742e3873f0a8d27fbf25c0caf535322a7e8e797bb9
+size 88822

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a05/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b26568d699d860b2f019add0050e77c08b2946c5a26891c6a5d95d46990936
+size 398016

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a05/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 105,
+  "ask_index": 5,
+  "global_ask_index": 1160,
+  "normalized": [
+    0.41992329216217994,
+    0.9763603017151999,
+    0.9993533569517482,
+    0.5173100847667623,
+    0.8608714162221334,
+    0.778205611258374,
+    0.3234999676833252,
+    0.5969732230141361,
+    0.19145586811018697,
+    0.9325218919242334,
+    0.9996145572168477,
+    0.9958536572116502
+  ],
+  "settings": {
+    "spring_y": 41992.32921621799,
+    "object_radius_m": 0.049054412068608,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04621170593367337,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.778205611258374,
+    "ground_friction": 0.6469999353666503,
+    "object_restitution": 0.5969732230141361,
+    "object_friction": 0.38291173622037394,
+    "collision_distance_m": 0.04730087567696934,
+    "drag_damping": 19.992291144336953,
+    "dashpot_damping": 199.17073144233004
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1203,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04620368406176567
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 223,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 681,
+      "hand_B": 522
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.054373670835048,
+    "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": 0.05257693491876125,
+        "workspace_s": 0.20610067807137966,
+        "objective_s": 0.005840404890477657,
+        "stage_capture_s": 0.21565513918176293,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007334874011576176,
+            "complete_s": 0.018212307011708617
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010647810995578766,
+            "complete_s": 0.0002470130566507578
+          }
+        },
+        "total_s": 0.44625182496383786
+      }
+    }
+  },
+  "wall_time_s": 8.578948796028271,
+  "outcome": "finite",
+  "score": 0.0008565560349125971,
+  "tell_score": 0.0008565560349125971,
+  "observation_score": 0.0004976261522574208,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g105/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc24ee10d0b3aa670c0d41c18b27f00869ccdd1842f44656edc46cb1c8ae75d0
+size 2528902