diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..18fc396f969bcac0d696300047da47943ed7b937 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:119971e9914dcb579da9576c9ee137ea79c313d3126f4154d6bd0e43f76b2d78 +size 393564 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..a039029f284fd26a8613a2661e00fabed3535d24 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 14, + "ask_index": 8, + "global_ask_index": 162, + "normalized": [ + 0.5311858418393482, + 0.7114267762930025, + 0.9865731481135283, + 0.4864080779690157, + 0.7244131213571997, + 0.13854736571145715, + 0.07492398915099852, + 0.41366247394708633, + 0.024127180352943232, + 0.11934229749330459, + 0.9994457770316199, + 0.0007148800033486857 + ], + "settings": { + "spring_y": 53118.58418393482, + "object_radius_m": 0.0384570710517201, + "object_max_neighbours": 49, + "controller_radius_m": 0.044048565457831104, + "controller_max_neighbours": 60, + "ground_restitution": 0.13854736571145715, + "ground_friction": 0.14984797830199703, + "object_restitution": 0.41366247394708633, + "object_friction": 0.048254360705886463, + "collision_distance_m": 0.014773691899732183, + "drag_damping": 19.988915540632398, + "dashpot_damping": 0.14297600066973715 + }, + "topology": { + "object_springs": 18538, + "controller_springs": 986, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03817855194211006 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.044026751071214676 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 212, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 555, + "hand_B": 431 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.508108998183161, + "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": 0.1318510950077325, + "workspace_s": 0.2026817030273378, + "objective_s": 0.005637936992570758, + "stage_capture_s": 0.12333109299652278, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007244215114042163, + "complete_s": 0.01810138300061226 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010015186853706837, + "complete_s": 0.00023087183944880962 + } + }, + "total_s": 0.3501554748509079 + } + } + }, + "wall_time_s": 8.340058701112866, + "outcome": "finite", + "score": 0.0009974943465903417, + "tell_score": 0.0009974943465903417, + "observation_score": 0.00048722632342779746, + "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/g014/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..18596841e66afd8a69933c4a4ab3b247f8264937 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bce84ed97ed6255897c034c9773e7d0799f655ddfb272a35a943bd4afd46c961 +size 2528918 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..bdad892172d9b3b5f8d4cf0a501113fd30ee9ac3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:610240dabbd20c4baf61d5b6324ef60bba840739de3e79452fe505ef80c22f7d +size 57718 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..8bb032b1e01c7e31ce9f8b70822b609b79dead48 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebb99596f28a4c3125d38c25764ce2e71e517a533c431a0efe2cb77fedb5b941 +size 242424 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1125e4abf99c0173ce3ae1f78aa4c7ec208ffc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 14, + "ask_index": 9, + "global_ask_index": 163, + "normalized": [ + 0.5539817424510619, + 0.8006673936434211, + 0.5336236199369826, + 0.05475077579918913, + 0.9159872932360961, + 0.6289172074593776, + 0.12414490092544314, + 0.4471573985447772, + 0.16733405113236116, + 0.1877130196808525, + 0.9048852920912738, + 0.34526359805907464 + ], + "settings": { + "spring_y": 55398.17424510619, + "object_radius_m": 0.04202669574573684, + "object_max_neighbours": 31, + "controller_radius_m": 0.01383255430594324, + "controller_max_neighbours": 74, + "ground_restitution": 0.6289172074593776, + "ground_friction": 0.24828980185088628, + "object_restitution": 0.4471573985447772, + "object_friction": 0.3346681022647223, + "collision_distance_m": 0.0175085207872341, + "drag_damping": 18.097705841825476, + "dashpot_damping": 69.05271961181492 + }, + "topology": { + "object_springs": 11943, + "controller_springs": 24, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.027258170768618584 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.013784333132207394 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 23, + "controls_without_attachment": 27, + "attachments_by_hand": { + "hand_A": 20, + "hand_B": 4 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.508108998183161, + "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": 0.03191742906346917, + "workspace_s": 0.14881697087548673, + "objective_s": 0.005589249078184366, + "stage_capture_s": 0.12299875798635185, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007280729012563825, + "complete_s": 0.016531365923583508 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.663216769695282e-05, + "complete_s": 0.00023185205645859241 + } + }, + "total_s": 0.29432837292551994 + } + } + }, + "wall_time_s": 7.859870843123645, + "outcome": "finite", + "score": 0.002681657080708689, + "tell_score": 0.002681657080708689, + "observation_score": 0.0025655755959101477, + "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/g014/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..c607462cc2086a0f55badecc55ce0ce59e94a8f4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afc44f1b514dbfa19bb059e93e6bd6b054b927940aee9840fcfc6ce764dae944 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..30241b0ba650d153a1abde163f3c23d00d71b9a9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a89976308c38740f01e7538e596ec969605ac01be2e73abf49e46bd97b1ee71b +size 89642 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..afbce05a07ab5300888cc9fd04ce36361ed3fc15 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5e1f246f02bb83fa2b5860dc6e6f2da962fc01221cf121eb34096e027d6c549 +size 401844 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..04dba4cdd8f3c5b76fb9644ecabebcf7cffca3af --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 14, + "ask_index": 10, + "global_ask_index": 164, + "normalized": [ + 0.19946884745546023, + 0.9049327385741004, + 0.9626133520405964, + 0.628597618603757, + 0.845804157938805, + 0.711874361706031, + 1.4407939828864178e-05, + 0.3723025560615675, + 0.15362065979984335, + 0.4725441507928043, + 0.9998157900843377, + 0.3387918192392127 + ], + "settings": { + "spring_y": 19946.884745546024, + "object_radius_m": 0.04619730954296402, + "object_max_neighbours": 48, + "controller_radius_m": 0.05400183330226299, + "controller_max_neighbours": 69, + "ground_restitution": 0.711874361706031, + "ground_friction": 2.8815879657728357e-05, + "object_restitution": 0.3723025560615675, + "object_friction": 0.3072413195996867, + "collision_distance_m": 0.02890176603171217, + "drag_damping": 19.996315801686755, + "dashpot_damping": 67.75836384784255 + }, + "topology": { + "object_springs": 18177, + "controller_springs": 1761, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.040119290351867676 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05399907007813454 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 247, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 970, + "hand_B": 791 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.603258284041658, + "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": 0.12664933316409588, + "workspace_s": 0.21049619792029262, + "objective_s": 0.005658562993630767, + "stage_capture_s": 0.12441986193880439, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007184042129665613, + "complete_s": 0.01798610994592309 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010234885849058628, + "complete_s": 0.00024537183344364166 + } + }, + "total_s": 0.3589725219644606 + } + } + }, + "wall_time_s": 6.1024635310750455, + "outcome": "finite", + "score": 0.0009826958585830922, + "tell_score": 0.0009826958585830922, + "observation_score": 0.0006562724767955562, + "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/g014/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d55a504ce52bd342da9dee14c8bd02741600422 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:370ccf62e3b72e7ee4df46b7895d243bf989ab4527d0e32ed7fce10dae2e6849 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8a6973deefa4b76011da6491c8c2bd520568c86 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c627d4fc33518d0fe672548f8614bd6b99e628ad80068ed9af5c42ab664bd5e +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee4eab5414ef7eb9a6c56ce3ec62f1c76240d965 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791673869.5031462, "t_invocation_s": 0.000115106, "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": 1791673869.5037866, "t_invocation_s": 0.000755315, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673869.9634924, "t_invocation_s": 0.460461337, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.11689534410834312, "workspace_s": 0.18255103519186378, "objective_s": 0.005820679944008589, "stage_capture_s": 0.13069908204488456, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007408275967463851, "complete_s": 0.017466387012973428}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.507196955382824e-05, "complete_s": 0.00023326091468334198}}, "total_s": 0.3369480040855706}, "object_springs": 14871, "controller_springs": 1009} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673870.3667417, "t_invocation_s": 0.863710885, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.04986544279381633, "workspace_s": 0.1944372549187392, "objective_s": 0.0056147221475839615, "stage_capture_s": 0.1245167488232255, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007338277995586395, "complete_s": 0.018049422884359956}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.531294927001e-05, "complete_s": 0.0002276850864291191}}, "total_s": 0.34303571190685034}, "object_springs": 17746, "controller_springs": 565} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673870.3719974, "t_invocation_s": 0.868966327, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673878.0638134, "t_invocation_s": 8.560782465, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673878.0723488, "t_invocation_s": 8.569317741, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673878.1004224, "t_invocation_s": 8.597391801, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673878.1268115, "t_invocation_s": 8.62378059, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673878.1277168, "t_invocation_s": 8.624685801, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673878.533606, "t_invocation_s": 9.03057523, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.053060950012877584, "workspace_s": 0.19904972496442497, "objective_s": 0.005655543878674507, "stage_capture_s": 0.12348791002295911, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007408953970298171, "complete_s": 0.01822485402226448}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010370207019150257, "complete_s": 0.00022909115068614483}}, "total_s": 0.34683311195112765}, "object_springs": 18177, "controller_springs": 777} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673878.9275134, "t_invocation_s": 9.424482235, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.0446050560567528, "workspace_s": 0.18585530808195472, "objective_s": 0.005834823939949274, "stage_capture_s": 0.12925302400253713, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007091353880241513, "complete_s": 0.017274271929636598}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010672188363969326, "complete_s": 0.00024461885914206505}}, "total_s": 0.3386499530170113}, "object_springs": 15599, "controller_springs": 698} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673878.9327972, "t_invocation_s": 9.429765933, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673886.627969, "t_invocation_s": 17.124938074, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673886.641141, "t_invocation_s": 17.138109736, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673886.668604, "t_invocation_s": 17.1655732, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673886.6946669, "t_invocation_s": 17.191636139, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673886.6955235, "t_invocation_s": 17.192492297, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673887.148525, "t_invocation_s": 17.645494123, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.12057173601351678, "workspace_s": 0.17918065702542663, "objective_s": 0.005771492142230272, "stage_capture_s": 0.12403546390123665, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007171619916334748, "complete_s": 0.01734182587824762}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010356493294239044, "complete_s": 0.00023238384164869785}}, "total_s": 0.32674647914245725}, "object_springs": 15244, "controller_springs": 943} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673887.5455332, "t_invocation_s": 18.042502073, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.0471441550180316, "workspace_s": 0.19225789699703455, "objective_s": 0.005562759004533291, "stage_capture_s": 0.12354011321440339, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0070176341105252504, "complete_s": 0.017732769018039107}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.872089140117168e-05, "complete_s": 0.00022650184109807014}}, "total_s": 0.3395011720713228}, "object_springs": 17796, "controller_springs": 274} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673887.5510206, "t_invocation_s": 18.047989314, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673895.2694619, "t_invocation_s": 25.766430878, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673895.281875, "t_invocation_s": 25.778843722, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673895.3116298, "t_invocation_s": 25.808599122, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673895.3380053, "t_invocation_s": 25.834974593, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673895.338948, "t_invocation_s": 25.835917014, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673895.7345266, "t_invocation_s": 26.231495748, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.04911365988664329, "workspace_s": 0.19130199309438467, "objective_s": 0.005784508073702455, "stage_capture_s": 0.12495052302256227, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007603429956361651, "complete_s": 0.017970149870961905}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.234901517629623e-05, "complete_s": 0.0002248198725283146}}, "total_s": 0.3403932380024344}, "object_springs": 16343, "controller_springs": 238} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673896.1418867, "t_invocation_s": 26.638855825, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.047069807071238756, "workspace_s": 0.20183442602865398, "objective_s": 0.005788002861663699, "stage_capture_s": 0.12286499817855656, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00827625603415072, "complete_s": 0.01889406912960112}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.7671989351511e-05, "complete_s": 0.00023229699581861496}}, "total_s": 0.34978126594796777}, "object_springs": 17420, "controller_springs": 695} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673896.1471817, "t_invocation_s": 26.644150747, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673903.8910651, "t_invocation_s": 34.388034192, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673903.9040241, "t_invocation_s": 34.400993018, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673903.933139, "t_invocation_s": 34.4301087, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673903.9588172, "t_invocation_s": 34.455786755, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673903.9598262, "t_invocation_s": 34.456795129, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673904.4477088, "t_invocation_s": 34.944677937, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.1318510950077325, "workspace_s": 0.2026817030273378, "objective_s": 0.005637936992570758, "stage_capture_s": 0.12333109299652278, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007244215114042163, "complete_s": 0.01810138300061226}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010015186853706837, "complete_s": 0.00023087183944880962}}, "total_s": 0.3501554748509079}, "object_springs": 18538, "controller_springs": 986} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673904.7846808, "t_invocation_s": 35.281650176, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.03191742906346917, "workspace_s": 0.14881697087548673, "objective_s": 0.005589249078184366, "stage_capture_s": 0.12299875798635185, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007280729012563825, "complete_s": 0.016531365923583508}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.663216769695282e-05, "complete_s": 0.00023185205645859241}}, "total_s": 0.29432837292551994}, "object_springs": 11943, "controller_springs": 24} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673904.789853, "t_invocation_s": 35.286822066, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673912.3060737, "t_invocation_s": 42.803042743, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673912.3185403, "t_invocation_s": 42.815509221, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673912.3482041, "t_invocation_s": 42.845173289, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673912.37693, "t_invocation_s": 42.873899262, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673912.3777456, "t_invocation_s": 42.874714599, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673912.8690267, "t_invocation_s": 43.365995606, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.12664933316409588, "workspace_s": 0.21049619792029262, "objective_s": 0.005658562993630767, "stage_capture_s": 0.12441986193880439, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007184042129665613, "complete_s": 0.01798610994592309}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010234885849058628, "complete_s": 0.00024537183344364166}}, "total_s": 0.3589725219644606}, "object_springs": 18177, "controller_springs": 1761} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673912.8746564, "t_invocation_s": 43.371625409, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673918.486592, "t_invocation_s": 48.983561203, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673918.4926546, "t_invocation_s": 48.989623412, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673918.5175765, "t_invocation_s": 49.014545772, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791673918.5196743, "t_invocation_s": 49.016643336, "generation": 14, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 119} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a073dd4385c3f2d3089b4b95584e5dc67b697e35 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2947b8a8362a3b28a4f6381cb89cb32f561535517dfd7e1045b252cb07ce21b +size 30830 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..34afccd750eb56306e1dadebc99d6474be6bd1e6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd12eea95f9df2cc1d79e21afc49d0005aa7f2f66831c71d9502dc780e63a776 +size 27572 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/told.json new file mode 100644 index 0000000000000000000000000000000000000000..b4aeaf57615d5db130fdf9f53d6c1ed352862338 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g014/told.json @@ -0,0 +1,60 @@ +{ + "generation": 14, + "told_scores": [ + 0.0011688754457133716, + 0.0013305159530498309, + 0.001157977695660068, + 0.0010347969357558297, + 0.0010265892152456365, + 0.0010413995634490822, + 0.0009506233418542918, + 0.001039927136516336, + 0.0009974943465903417, + 0.002681657080708689, + 0.0009826958585830922 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 165, + "told_asks_total": 165, + "champion": { + "generation": 10, + "ask_index": 9, + "global_ask_index": 119, + "score": 0.0008954172885056553, + "observation_score": 0.0004700827975712371, + "normalized": [ + 0.5175378399666088, + 0.6706710006939037, + 0.9931652945098923, + 0.3223897072168932, + 0.992165973318944, + 0.6557229886032847, + 0.40163695220297035, + 0.7714180225786539, + 0.11475954037956301, + 0.009016365801022419, + 0.9999682044689823, + 0.6590588309371759 + ], + "settings": { + "spring_y": 51753.78399666089, + "object_radius_m": 0.03682684002775615, + "object_max_neighbours": 49, + "controller_radius_m": 0.032567279505182525, + "controller_max_neighbours": 79, + "ground_restitution": 0.6557229886032847, + "ground_friction": 0.8032739044059407, + "object_restitution": 0.7714180225786539, + "object_friction": 0.22951908075912603, + "collision_distance_m": 0.010360654632040897, + "drag_damping": 19.999364089379647, + "dashpot_damping": 131.81176618743518 + } + }, + "pycma": { + "countiter": 15, + "countevals": 165, + "sigma": 0.2369496759486853 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..0a2dfd36072d23ed38a019f61e8e789c03d62a8d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8877108eaaa350f7694b79eda8c5cdb12b09b5fbf4af053a34f2f61da24a20d +size 86498 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..f713e9b68e761b05f78f587018b1bf81ce50fad9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56794c4ca7b8a13c814f4b84135668147a6137e78a1fcd55c445102bcc381851 +size 386384 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ebdc9e14a30205569a1068e4e94df2150344ce05 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 0, + "global_ask_index": 165, + "normalized": [ + 0.5453776125875313, + 0.8834739141827804, + 0.9047491730485272, + 0.6063356156092305, + 0.984983854042776, + 0.9724061095635601, + 0.08084356475412999, + 0.4655295764165831, + 0.2220845068990157, + 0.14827416733030624, + 0.9996470213755356, + 0.5992951748056847 + ], + "settings": { + "spring_y": 54537.761258753126, + "object_radius_m": 0.04533895656731122, + "object_max_neighbours": 46, + "controller_radius_m": 0.05244349309264614, + "controller_max_neighbours": 78, + "ground_restitution": 0.9724061095635601, + "ground_friction": 0.16168712950825997, + "object_restitution": 0.4655295764165831, + "object_friction": 0.4441690137980314, + "collision_distance_m": 0.01593096669321225, + "drag_damping": 19.992940427510714, + "dashpot_damping": 119.85903496113694 + }, + "topology": { + "object_springs": 17420, + "controller_springs": 1745, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03817855194211006 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05244016647338867 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 250, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 990, + "hand_B": 755 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.873106457060203, + "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": 0.050603209994733334, + "workspace_s": 0.2834380171261728, + "objective_s": 0.006145961815491319, + "stage_capture_s": 0.129935494158417, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007218237034976482, + "complete_s": 0.01786939916200936 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.19979065656662e-05, + "complete_s": 0.00021448591724038124 + } + }, + "total_s": 0.4377922839485109 + } + } + }, + "wall_time_s": 8.769997155992314, + "outcome": "finite", + "score": 0.0009362972248861302, + "tell_score": 0.0009362972248861302, + "observation_score": 0.0005195461323883934, + "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/g015/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f83fd63f2baf61ce9e10eee28b5cf0d799430cd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9743d0eba2da4bfc4dffc0ca1c6a4e555aca0f96ebe421089daf3cbc8edf100 +size 2528878 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..7acfedc5d635ac5f8a5b0eb7c2c8d9a36ee9a94e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:253a1c3d8ecc1a384573d0934bbd56d2327b39d8f8e8c2deed91e2c57394aae7 +size 80582 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..3dff51e7e7b6dba85d6fd3e40e4b003eaca85d95 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336d9362c3c7b3295984176cd318429ae61cba939799fc7a96aea2793bd79bbc +size 356708 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..6e184b53b84904eca978db6c6497f37f7505f010 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 1, + "global_ask_index": 166, + "normalized": [ + 0.6241749715767025, + 0.8407868395241005, + 0.9146109430493438, + 0.27822501467019484, + 0.9993941983156074, + 0.5657543381249899, + 0.0210893976813208, + 0.029677072328213337, + 0.2063284940501499, + 0.2046118820552297, + 0.9126529188671602, + 0.3440448503653246 + ], + "settings": { + "spring_y": 62417.49715767025, + "object_radius_m": 0.043631473580964024, + "object_max_neighbours": 46, + "controller_radius_m": 0.02947575102691364, + "controller_max_neighbours": 79, + "ground_restitution": 0.5657543381249899, + "ground_friction": 0.0421787953626416, + "object_restitution": 0.029677072328213337, + "object_friction": 0.4126569881002998, + "collision_distance_m": 0.01818447528220919, + "drag_damping": 18.2530583773432, + "dashpot_damping": 68.80897007306493 + }, + "topology": { + "object_springs": 17420, + "controller_springs": 261, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03817855194211006 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.029467113316059113 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 120, + "controls_without_attachment": 18, + "attachments_by_hand": { + "hand_A": 180, + "hand_B": 81 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.873106457060203, + "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": 0.04641093313694, + "workspace_s": 0.1895910408347845, + "objective_s": 0.00556340697221458, + "stage_capture_s": 0.12501782597973943, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007247990928590298, + "complete_s": 0.01789522683247924 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.230384603142738e-05, + "complete_s": 0.00022608600556850433 + } + }, + "total_s": 0.33847231697291136 + } + } + }, + "wall_time_s": 8.2837885459885, + "outcome": "finite", + "score": 0.0009407120808047838, + "tell_score": 0.0009407120808047838, + "observation_score": 0.0004535594335015078, + "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/g015/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..52c319c1bad539e0910da12d6c29633e82c8bba2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a57dab4e10ac78a414b8637bd893a641a1e189484cb258f7908008057a1a9d0 +size 2528874 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..78eafb784d8b0d1fcc7e9e40a5b262d10297f76c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a024772a0c4fb7768b1b53c2c9b271bbdc11eeea9c5da26b0c7223bb72c6baf +size 82318 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..494dade85ee99b1dc3665c2104b597db68276a90 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e61ce8bdc14cd4223da473f6bea91ce6405a59313d9409ec9975cb6d1d49306 +size 365404 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..648dc4c0d5f87b813fd82ca4d802dd312192fbdc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 2, + "global_ask_index": 167, + "normalized": [ + 0.17290030936811435, + 0.9539649109283037, + 0.8672257142421247, + 0.5536350838966434, + 0.9377696453960473, + 0.7903175413058192, + 0.2716418783203805, + 0.027401781245583092, + 0.2560974067073113, + 0.33642536312036686, + 0.7269312994229266, + 0.37744604407620097 + ], + "settings": { + "spring_y": 17290.030936811436, + "object_radius_m": 0.04815859643713215, + "object_max_neighbours": 44, + "controller_radius_m": 0.04875445587276504, + "controller_max_neighbours": 75, + "ground_restitution": 0.7903175413058192, + "ground_friction": 0.543283756640761, + "object_restitution": 0.027401781245583092, + "object_friction": 0.5121948134146226, + "collision_distance_m": 0.023457014524814676, + "drag_damping": 14.53862598845853, + "dashpot_damping": 75.48920881524019 + }, + "topology": { + "object_springs": 16690, + "controller_springs": 1426, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03694027289748192 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04874870926141739 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 233, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 816, + "hand_B": 610 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.8534769038669765, + "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": 0.049769786885008216, + "workspace_s": 0.2761652518529445, + "objective_s": 0.005800500977784395, + "stage_capture_s": 0.12477935897186399, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006896018981933594, + "complete_s": 0.01740715792402625 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.328802116215229e-05, + "complete_s": 0.0002205418422818184 + } + }, + "total_s": 0.42453482490964234 + } + } + }, + "wall_time_s": 8.75454228790477, + "outcome": "finite", + "score": 0.0010560439348932357, + "tell_score": 0.0010560439348932357, + "observation_score": 0.0007115173658124662, + "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/g015/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..463fe4582cfc0f90b4e1d0b552569d7e3c8468a9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7686fb74c056f1fae972334d0828c8a5764e98ff44af2e504344a542270d10cf +size 2528914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..c798db982ae05734bbcbe5a8b03a53c3b66ab0f7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a351253e1e37fc4fba496c1eac2826841fdad77c806f252f3904103de7387e2c +size 87702 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce76863c0534af53dcab972b3c3297dcfa74e816 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb563d574de820c5d38aaabda9a0a4c777f9847b878cc717f34555876504cd86 +size 392248 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbdc0564e24a5d82b5f7a8bc22daad060cb0c98 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 3, + "global_ask_index": 168, + "normalized": [ + 0.20996614249718068, + 0.6437043603296515, + 0.9391133659922816, + 0.6425487963332497, + 0.7244651114535298, + 0.6517185867174083, + 0.18882595033180907, + 0.24263274086298503, + 0.128245072867548, + 0.3151692120310063, + 0.8313466759004761, + 0.9190099884930986 + ], + "settings": { + "spring_y": 20996.614249718066, + "object_radius_m": 0.03574817441318606, + "object_max_neighbours": 47, + "controller_radius_m": 0.054978415743327486, + "controller_max_neighbours": 60, + "ground_restitution": 0.6517185867174083, + "ground_friction": 0.37765190066361815, + "object_restitution": 0.24263274086298503, + "object_friction": 0.256490145735096, + "collision_distance_m": 0.022606768481240252, + "drag_damping": 16.626933518009523, + "dashpot_damping": 183.80199769861972 + }, + "topology": { + "object_springs": 17780, + "controller_springs": 1678, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.035536255687475204 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.05492224171757698 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 242, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 917, + "hand_B": 761 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.8534769038669765, + "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": 0.05125774093903601, + "workspace_s": 0.2046247918624431, + "objective_s": 0.005760975182056427, + "stage_capture_s": 0.1231684850063175, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006995239993557334, + "complete_s": 0.017706986982375383 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.834207594394684e-05, + "complete_s": 0.0002287521492689848 + } + }, + "total_s": 0.35169371007941663 + } + } + }, + "wall_time_s": 8.282748142024502, + "outcome": "finite", + "score": 0.00103994480620163, + "tell_score": 0.00103994480620163, + "observation_score": 0.000715699117135066, + "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/g015/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..577f30d22cc30d4dfdf7c4f4002b61d3be999b9d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48cd9874163c947d28732716b7d39d6455f1c87546c3e94dcc93208913b30da2 +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..cad206d2dd47088d6b15668b90ae66a6f10ebbe6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:790fb5a8ab17cc2241e712a5f2a352aae3a9a26b1cffc3430aec9926738d46cb +size 84762 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..24d9faf95f6f19b5012a3bf690a17af734c56c28 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b65262fca8b1aa8b1fa4f23fd117fd68bebb9648c9c353264d903d617eedc3 +size 377528 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..8f20f49fdc7b76b521c17df96cb92869751d1683 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 4, + "global_ask_index": 169, + "normalized": [ + 0.4113844504267092, + 0.6941902069818515, + 0.9995564880900587, + 0.24500353884826362, + 0.9865864866093123, + 0.5889471046220138, + 0.06097014046310103, + 0.6585753117713309, + 0.27783568703891903, + 0.8728154492571228, + 0.907100089739566, + 0.0023761238839004337 + ], + "settings": { + "spring_y": 41138.445042670915, + "object_radius_m": 0.03776760827927406, + "object_max_neighbours": 49, + "controller_radius_m": 0.027150247719378455, + "controller_max_neighbours": 79, + "ground_restitution": 0.5889471046220138, + "ground_friction": 0.12194028092620206, + "object_restitution": 0.6585753117713309, + "object_friction": 0.5556713740778381, + "collision_distance_m": 0.04491261797028492, + "drag_damping": 18.14200179479132, + "dashpot_damping": 0.47522477678008673 + }, + "topology": { + "object_springs": 18534, + "controller_springs": 188, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03774309158325195 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.027148453518748283 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 104, + "controls_without_attachment": 18, + "attachments_by_hand": { + "hand_A": 125, + "hand_B": 63 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.82617778587155, + "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": 0.055193874053657055, + "workspace_s": 0.2792721961159259, + "objective_s": 0.005781753920018673, + "stage_capture_s": 0.13012127205729485, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0071870859246701, + "complete_s": 0.017953350907191634 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.052292443811893e-05, + "complete_s": 0.00021011498756706715 + } + }, + "total_s": 0.4335054401308298 + } + } + }, + "wall_time_s": 8.714117710944265, + "outcome": "finite", + "score": 0.0010198664210372568, + "tell_score": 0.0010198664210372568, + "observation_score": 0.0005606008674193064, + "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/g015/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..e39742e2f6e76d1e7f376de369fc629a205c3694 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:387264b6a8701d473b9b370e6b8d0716c34dce39db88b8e416d8430f1ed9e928 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8b35bb21703af218a563b7f9fef276357dc74ea --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd157e22bd8c88578d5bfff10f75455dfd8fc76e00cefd205861839dd91d1372 +size 77482 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b4a4f215b961754475fc2d89e90575e39c1d0e4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65699120e6202c3da0db2414fcbecc7310af5793dee83da1e0044a962e10a6b3 +size 341200 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..fcbc504e5bfdfd4c104d8fe8659e1e79652098d5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 5, + "global_ask_index": 170, + "normalized": [ + 0.3332612315098796, + 0.5657145736430951, + 0.8269033476518434, + 0.39198143739368907, + 0.9888236769624545, + 0.8287980883362367, + 0.07435100944780237, + 0.17750386227650655, + 0.34347656139699606, + 0.2930814948548375, + 0.956564632810415, + 0.3681543120138857 + ], + "settings": { + "spring_y": 33326.12315098796, + "object_radius_m": 0.0326285829457238, + "object_max_neighbours": 43, + "controller_radius_m": 0.03743870061755824, + "controller_max_neighbours": 79, + "ground_restitution": 0.8287980883362367, + "ground_friction": 0.14870201889560475, + "object_restitution": 0.17750386227650655, + "object_friction": 0.6869531227939921, + "collision_distance_m": 0.021723259794193497, + "drag_damping": 19.131292656208302, + "dashpot_damping": 73.63086240277714 + }, + "topology": { + "object_springs": 16330, + "controller_springs": 576, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03259789198637009 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03743821755051613 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 193, + "controls_without_attachment": 10, + "attachments_by_hand": { + "hand_A": 377, + "hand_B": 199 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.82617778587155, + "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": 0.044312786078080535, + "workspace_s": 0.18264229409396648, + "objective_s": 0.005565532948821783, + "stage_capture_s": 0.12540960987098515, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00728156603872776, + "complete_s": 0.017675322014838457 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.862706065177917e-05, + "complete_s": 0.00023167114704847336 + } + }, + "total_s": 0.3317169928923249 + } + } + }, + "wall_time_s": 8.228080380009487, + "outcome": "finite", + "score": 0.0010409694573511948, + "tell_score": 0.0010409694573511948, + "observation_score": 0.0006545760055529494, + "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/g015/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..8844939f693a93b274a24b3da145c04a529518e1 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:300ad40141193b0532c8d0af6565e0977ed74d685343c06d7f33ac23b1cea6f2 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..64ceac00420fa41d8c559fea446ed7fb951f0e05 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c43bf0db3dfcd9cf2e19bc49778504ce6a2162504a36857eaa293a4c8a432bb +size 87290 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..43bb15f070e01440f1492410e2d3a41831059530 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbd0b0dc62625aa33f65f8a98f2de277b61501b66a396d624a3103f806900684 +size 390212 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..710f8ad109f2f00599b4d0202db369a6d3277a9c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 6, + "global_ask_index": 171, + "normalized": [ + 0.2128303031317592, + 0.7863869991817296, + 0.9985129819373434, + 0.4425876605133842, + 0.9476909615263033, + 0.7193189764219444, + 0.005841938766147151, + 0.23736494314639267, + 0.4182172516602488, + 0.1384366958517358, + 0.9622018030748596, + 0.19570872221220453 + ], + "settings": { + "spring_y": 21283.03031317592, + "object_radius_m": 0.041455479967269185, + "object_max_neighbours": 49, + "controller_radius_m": 0.040981136235936896, + "controller_max_neighbours": 76, + "ground_restitution": 0.7193189764219444, + "ground_friction": 0.011683877532294301, + "object_restitution": 0.23736494314639267, + "object_friction": 0.8364345033204976, + "collision_distance_m": 0.01553746783406943, + "drag_damping": 19.24403606149719, + "dashpot_damping": 39.14174444244091 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 812, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04096759483218193 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 208, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 516, + "hand_B": 296 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.730797789990902, + "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": 0.056042038137093186, + "workspace_s": 0.2778232761193067, + "objective_s": 0.005549815017729998, + "stage_capture_s": 0.12285874201916158, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007102907169610262, + "complete_s": 0.01795932720415294 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.227008558809757e-05, + "complete_s": 0.00021882914006710052 + } + }, + "total_s": 0.4245711851399392 + } + } + }, + "wall_time_s": 8.606947094202042, + "outcome": "finite", + "score": 0.0009648360318149575, + "tell_score": 0.0009648360318149575, + "observation_score": 0.0006449781097137405, + "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/g015/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..82f0ab64f58b371c409b22f1a5c043641540a91b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07e48bda4985cc344977ff3b89d1f749517e524bbac73e8e2e32272cb46d8adc +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..91ee48574f033d74ee0e72f100d2eb6a8b4475d8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6af6a9e5221d97b673d4e15c2783cde7141cc1d5dc0e1e3e40a4b3ae75add15 +size 73270 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..96dd1fc1f46ebbbea80e56f34441de1d4d00c4d4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83aee0d5ca6a7d2a5be515d4bca55119bea8ccdbfef1ed61dc048fd04440df1d +size 320068 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..3ba564e7582e3fdb1c170fa5783a0e9480ec9101 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 7, + "global_ask_index": 172, + "normalized": [ + 0.2894911077399607, + 0.9989643733322615, + 0.7855632045117004, + 0.27317050943779797, + 0.9464226390391709, + 0.6175493953441907, + 0.08513063320820366, + 0.5181890600889036, + 0.3092756693239555, + 0.24202953960687362, + 0.6440001699268959, + 0.36927715483288875 + ], + "settings": { + "spring_y": 28949.110773996068, + "object_radius_m": 0.049958574933290464, + "object_max_neighbours": 41, + "controller_radius_m": 0.02912193566064586, + "controller_max_neighbours": 76, + "ground_restitution": 0.6175493953441907, + "ground_friction": 0.17026126641640732, + "object_restitution": 0.5181890600889036, + "object_friction": 0.618551338647911, + "collision_distance_m": 0.019681181584274947, + "drag_damping": 12.880003398537918, + "dashpot_damping": 73.85543096657776 + }, + "topology": { + "object_springs": 15599, + "controller_springs": 250, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03524480387568474 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.029099849984049797 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 119, + "controls_without_attachment": 18, + "attachments_by_hand": { + "hand_A": 172, + "hand_B": 78 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.730797789990902, + "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": 0.042081711115315557, + "workspace_s": 0.17940340796485543, + "objective_s": 0.005616782000288367, + "stage_capture_s": 0.12647408596239984, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0073441071435809135, + "complete_s": 0.01806153799407184 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.86859668046236e-05, + "complete_s": 0.0002330038696527481 + } + }, + "total_s": 0.32997658499516547 + } + } + }, + "wall_time_s": 8.128854264970869, + "outcome": "finite", + "score": 0.001218685336429256, + "tell_score": 0.001218685336429256, + "observation_score": 0.0006965968187705399, + "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/g015/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..361819a0c0164b163e2db06d8ee71a34925c281e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:931d1d2df1ddce4dd2145d875b2bbd9fb71062b35227c7dc2551ad021c5730fa +size 2528910 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..8960669f44a6a07f96b6aa7ca16d934f2a3f8092 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b717d306f3e4223ee9a6a6671b64ed5fbcbebf04234fb65e39eaf2a2c13861ee +size 77242 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..caba97df035167370ae5e4ec54ecbdf2ec678fc6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b89583e46adb63b23ff592c96527712122ec3d7c010f2a39bcf0cefb6531638d +size 340024 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..581c62500f63a537fa9f835376e38089bbebb9bf --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 8, + "global_ask_index": 173, + "normalized": [ + 0.18539937129187925, + 0.9555705891471784, + 0.8745925423891319, + 0.22703377972757302, + 0.9941547297478245, + 0.5108094979821407, + 0.023125361275811544, + 0.3085184455939287, + 0.014955599924790005, + 0.17714702506894048, + 0.9019447821104228, + 0.43856175830630995 + ], + "settings": { + "spring_y": 18539.937129187925, + "object_radius_m": 0.04822282356588714, + "object_max_neighbours": 44, + "controller_radius_m": 0.02589236458093011, + "controller_max_neighbours": 79, + "ground_restitution": 0.5108094979821407, + "ground_friction": 0.04625072255162309, + "object_restitution": 0.3085184455939287, + "object_friction": 0.02991119984958001, + "collision_distance_m": 0.017085881002757618, + "drag_damping": 18.038895642208455, + "dashpot_damping": 87.71235166126199 + }, + "topology": { + "object_springs": 16690, + "controller_springs": 157, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03694027289748192 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.0258640106767416 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 97, + "controls_without_attachment": 18, + "attachments_by_hand": { + "hand_A": 104, + "hand_B": 53 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.90096398210153, + "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": 0.050222252029925585, + "workspace_s": 0.2780982169788331, + "objective_s": 0.005867379019036889, + "stage_capture_s": 0.12795415404252708, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007053883047774434, + "complete_s": 0.01747283013537526 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.795604273676872e-05, + "complete_s": 0.00023882603272795677 + } + }, + "total_s": 0.4298178059980273 + } + } + }, + "wall_time_s": 8.806493781041354, + "outcome": "finite", + "score": 0.0019276662311172197, + "tell_score": 0.0019276662311172197, + "observation_score": 0.001729999951058131, + "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/g015/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b0c5122b5bbf72d4aacb146801a128680b18792 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0027d41d67b9dd26333cbf3d2de6757292af121fb1f8df2883be1e174d43efe3 +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..e61962c7f6a2060f49f89f90a534e1ba06786f6a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99253bce24a1423a56ed643da4433ae027d01005b8096f7ea2a1d3a7f27a3bc1 +size 88054 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ddfd268ddb313e3a19e568e45c72c3168ef2e22 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8da1a9079ac28a98291c85124eff628ff0ef249424e0924775b6fb426f201869 +size 393828 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..01fc76becbe488a87390485c604e807838b5a471 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 9, + "global_ask_index": 174, + "normalized": [ + 0.5866562596548267, + 0.8982646411082963, + 0.9966135729837909, + 0.49077522407302454, + 0.7034670144733696, + 0.24663562816405837, + 0.004500777901307702, + 0.31761419389389045, + 0.07902118483265072, + 0.11855207307324378, + 0.9878007237844719, + 0.21137733946638057 + ], + "settings": { + "spring_y": 58665.62596548267, + "object_radius_m": 0.045930585644331855, + "object_max_neighbours": 49, + "controller_radius_m": 0.04435426568511172, + "controller_max_neighbours": 59, + "ground_restitution": 0.24663562816405837, + "ground_friction": 0.009001555802615404, + "object_restitution": 0.31761419389389045, + "object_friction": 0.15804236966530144, + "collision_distance_m": 0.014742082922929752, + "drag_damping": 19.75601447568944, + "dashpot_damping": 42.275467893276115 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 993, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.044351525604724884 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 211, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 555, + "hand_B": 438 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.90096398210153, + "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": 0.050478928023949265, + "workspace_s": 0.20165746612474322, + "objective_s": 0.0058492389507591724, + "stage_capture_s": 0.12522506900131702, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006748408079147339, + "complete_s": 0.01764924102462828 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.416905231773853e-05, + "complete_s": 0.0002175820991396904 + } + }, + "total_s": 0.3507809769362211 + } + } + }, + "wall_time_s": 8.328511092811823, + "outcome": "finite", + "score": 0.0009690732735469027, + "tell_score": 0.0009690732735469027, + "observation_score": 0.00048366931611527414, + "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/g015/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..e13cc7c6321fb555b20ec8667d8473568c86a9d5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beafd513710459b107d4ec777181deaecedc33bbb4e5393a1a19e0006988af45 +size 2528922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..2bc9a47342c59eefef820e479df5f4dafa87ec00 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b86eaa5f5f7cc945b79137030e4850f6fbc5f2f24033ae0b2b18bee9438883e5 +size 83094 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..69fd85134c020f2436b208aafe26e82071b4f85e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd3c7d1f1cc719ab698f862629196a131685e7dedae5450699ae88e15e046929 +size 369372 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..226f8381e699b4ac2f64224c108d9279f09e1e20 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 15, + "ask_index": 10, + "global_ask_index": 175, + "normalized": [ + 0.4566029308727295, + 0.5032183947698085, + 0.9998507894676706, + 0.10082039794592568, + 0.7895565283321669, + 0.6565524249215071, + 0.12082830579620985, + 0.270995728747853, + 0.24518824690574959, + 0.0002532207433423111, + 0.9938599632497516, + 0.36271243398745867 + ], + "settings": { + "spring_y": 45660.29308727295, + "object_radius_m": 0.030128735790792338, + "object_max_neighbours": 49, + "controller_radius_m": 0.017057427856214797, + "controller_max_neighbours": 65, + "ground_restitution": 0.6565524249215071, + "ground_friction": 0.2416566115924197, + "object_restitution": 0.270995728747853, + "object_friction": 0.49037649381149917, + "collision_distance_m": 0.010010128829733693, + "drag_damping": 19.87719926499503, + "dashpot_damping": 72.54248679749173 + }, + "topology": { + "object_springs": 18275, + "controller_springs": 39, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.030090367421507835 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.016704285517334938 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 36, + "controls_without_attachment": 26, + "attachments_by_hand": { + "hand_A": 30, + "hand_B": 9 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.515786504140124, + "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": 0.12712513282895088, + "workspace_s": 0.19764447095803916, + "objective_s": 0.00560615211725235, + "stage_capture_s": 0.12614254700019956, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007321303943172097, + "complete_s": 0.01794794201850891 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011991895735263824, + "complete_s": 0.0002554529346525669 + } + }, + "total_s": 0.34777699690312147 + } + } + }, + "wall_time_s": 6.003795869881287, + "outcome": "finite", + "score": 0.0029192081044987364, + "tell_score": 0.0029192081044987364, + "observation_score": 0.002715583206040006, + "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/g015/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1d15943b2e52b891af720058f6ebcf161859da1 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beeb7809e9436308840512d8232110b01c239b48fb920152a2bfe517b2a100e0 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..9b2e96f3fd5fcdef2d7a101acdbf329350ce16cd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02a92aa63d5ee379ae6ca21bcf7e54f06e04efe2620239c7800d56d759e80ff5 +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bf764ffe34bc9cf23ee89e63c2ff745e3c58691 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791673918.5218105, "t_invocation_s": 0.000118091, "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": 1791673918.5224867, "t_invocation_s": 0.000794486, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673919.0165498, "t_invocation_s": 0.494857564, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.050603209994733334, "workspace_s": 0.2834380171261728, "objective_s": 0.006145961815491319, "stage_capture_s": 0.129935494158417, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007218237034976482, "complete_s": 0.01786939916200936}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.19979065656662e-05, "complete_s": 0.00021448591724038124}}, "total_s": 0.4377922839485109}, "object_springs": 17420, "controller_springs": 1745} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673919.4120595, "t_invocation_s": 0.890367555, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.04641093313694, "workspace_s": 0.1895910408347845, "objective_s": 0.00556340697221458, "stage_capture_s": 0.12501782597973943, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007247990928590298, "complete_s": 0.01789522683247924}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.230384603142738e-05, "complete_s": 0.00022608600556850433}}, "total_s": 0.33847231697291136}, "object_springs": 17420, "controller_springs": 261} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673919.417372, "t_invocation_s": 0.895679503, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673927.2988057, "t_invocation_s": 8.777113553, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673927.3116543, "t_invocation_s": 8.78996207, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673927.3418922, "t_invocation_s": 8.820200363, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673927.370232, "t_invocation_s": 8.848539905, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673927.3711982, "t_invocation_s": 8.849505878, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673927.8513925, "t_invocation_s": 9.329700376, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.049769786885008216, "workspace_s": 0.2761652518529445, "objective_s": 0.005800500977784395, "stage_capture_s": 0.12477935897186399, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006896018981933594, "complete_s": 0.01740715792402625}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.328802116215229e-05, "complete_s": 0.0002205418422818184}}, "total_s": 0.42453482490964234}, "object_springs": 16690, "controller_springs": 1426} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673928.2648544, "t_invocation_s": 9.74316243, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05125774093903601, "workspace_s": 0.2046247918624431, "objective_s": 0.005760975182056427, "stage_capture_s": 0.1231684850063175, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006995239993557334, "complete_s": 0.017706986982375383}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.834207594394684e-05, "complete_s": 0.0002287521492689848}}, "total_s": 0.35169371007941663}, "object_springs": 17780, "controller_springs": 1678} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673928.2701898, "t_invocation_s": 9.748497533, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673936.132244, "t_invocation_s": 17.610551975, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673936.1449952, "t_invocation_s": 17.623302862, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673936.1726546, "t_invocation_s": 17.650962685, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673936.199602, "t_invocation_s": 17.677909896, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673936.2005482, "t_invocation_s": 17.678855794, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673936.6952353, "t_invocation_s": 18.173543295, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.055193874053657055, "workspace_s": 0.2792721961159259, "objective_s": 0.005781753920018673, "stage_capture_s": 0.13012127205729485, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0071870859246701, "complete_s": 0.017953350907191634}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.052292443811893e-05, "complete_s": 0.00021011498756706715}}, "total_s": 0.4335054401308298}, "object_springs": 18534, "controller_springs": 188} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673937.0815263, "t_invocation_s": 18.559834589, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.044312786078080535, "workspace_s": 0.18264229409396648, "objective_s": 0.005565532948821783, "stage_capture_s": 0.12540960987098515, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00728156603872776, "complete_s": 0.017675322014838457}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.862706065177917e-05, "complete_s": 0.00023167114704847336}}, "total_s": 0.3317169928923249}, "object_springs": 16330, "controller_springs": 576} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673937.0867085, "t_invocation_s": 18.565016183, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673944.9214857, "t_invocation_s": 26.39979342, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673944.9338164, "t_invocation_s": 26.412124076, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673944.9608684, "t_invocation_s": 26.439176347, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673944.986947, "t_invocation_s": 26.465255069, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673944.987642, "t_invocation_s": 26.465949829, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673945.4740064, "t_invocation_s": 26.952314403, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.056042038137093186, "workspace_s": 0.2778232761193067, "objective_s": 0.005549815017729998, "stage_capture_s": 0.12285874201916158, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007102907169610262, "complete_s": 0.01795932720415294}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.227008558809757e-05, "complete_s": 0.00021882914006710052}}, "total_s": 0.4245711851399392}, "object_springs": 18544, "controller_springs": 812} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673945.8565567, "t_invocation_s": 27.334864564, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.042081711115315557, "workspace_s": 0.17940340796485543, "objective_s": 0.005616782000288367, "stage_capture_s": 0.12647408596239984, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0073441071435809135, "complete_s": 0.01806153799407184}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.86859668046236e-05, "complete_s": 0.0002330038696527481}}, "total_s": 0.32997658499516547}, "object_springs": 15599, "controller_springs": 250} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673945.8617158, "t_invocation_s": 27.340023382, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673953.600954, "t_invocation_s": 35.079262089, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673953.6138732, "t_invocation_s": 35.092180788, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673953.644194, "t_invocation_s": 35.122501759, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673953.6721747, "t_invocation_s": 35.150482567, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673953.6728497, "t_invocation_s": 35.151157224, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673954.158785, "t_invocation_s": 35.637093034, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.050222252029925585, "workspace_s": 0.2780982169788331, "objective_s": 0.005867379019036889, "stage_capture_s": 0.12795415404252708, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007053883047774434, "complete_s": 0.01747283013537526}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.795604273676872e-05, "complete_s": 0.00023882603272795677}}, "total_s": 0.4298178059980273}, "object_springs": 16690, "controller_springs": 157} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673954.5704796, "t_invocation_s": 36.048787314, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.050478928023949265, "workspace_s": 0.20165746612474322, "objective_s": 0.0058492389507591724, "stage_capture_s": 0.12522506900131702, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006748408079147339, "complete_s": 0.01764924102462828}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.416905231773853e-05, "complete_s": 0.0002175820991396904}}, "total_s": 0.3507809769362211}, "object_springs": 18544, "controller_springs": 993} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673954.5759535, "t_invocation_s": 36.054261115, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673962.4855514, "t_invocation_s": 43.963859128, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673962.4979935, "t_invocation_s": 43.97630112, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673962.5259962, "t_invocation_s": 44.004304197, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673962.5532324, "t_invocation_s": 44.03154062, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791673962.5543506, "t_invocation_s": 44.032658211, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791673963.03522, "t_invocation_s": 44.513527749, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.12712513282895088, "workspace_s": 0.19764447095803916, "objective_s": 0.00560615211725235, "stage_capture_s": 0.12614254700019956, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007321303943172097, "complete_s": 0.01794794201850891}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011991895735263824, "complete_s": 0.0002554529346525669}}, "total_s": 0.34777699690312147}, "object_springs": 18275, "controller_springs": 39} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791673963.040476, "t_invocation_s": 44.518783864, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791673968.564714, "t_invocation_s": 50.043021662, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791673968.5699024, "t_invocation_s": 50.048210035, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791673968.598269, "t_invocation_s": 50.076577034, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791673968.6004872, "t_invocation_s": 50.07879471, "generation": 15, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 119} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..76dbf15e6b9eee197181edc87609f1fc0939d766 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd788b7b01edb8ea61aae06530f1117f77bc5eb97d936c2fcd32c54a5048ab82 +size 30862 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..52536265de152a6cc67e0b8d08cfe11c842c951a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:681dc64e71150e58447982aa7ea4846d826813484f7ec5380c20cdb6aa538312 +size 27576 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/told.json new file mode 100644 index 0000000000000000000000000000000000000000..b615f81913736dc5ad970ddfd4e5528b46f539f8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g015/told.json @@ -0,0 +1,60 @@ +{ + "generation": 15, + "told_scores": [ + 0.0009362972248861302, + 0.0009407120808047838, + 0.0010560439348932357, + 0.00103994480620163, + 0.0010198664210372568, + 0.0010409694573511948, + 0.0009648360318149575, + 0.001218685336429256, + 0.0019276662311172197, + 0.0009690732735469027, + 0.0029192081044987364 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 176, + "told_asks_total": 176, + "champion": { + "generation": 10, + "ask_index": 9, + "global_ask_index": 119, + "score": 0.0008954172885056553, + "observation_score": 0.0004700827975712371, + "normalized": [ + 0.5175378399666088, + 0.6706710006939037, + 0.9931652945098923, + 0.3223897072168932, + 0.992165973318944, + 0.6557229886032847, + 0.40163695220297035, + 0.7714180225786539, + 0.11475954037956301, + 0.009016365801022419, + 0.9999682044689823, + 0.6590588309371759 + ], + "settings": { + "spring_y": 51753.78399666089, + "object_radius_m": 0.03682684002775615, + "object_max_neighbours": 49, + "controller_radius_m": 0.032567279505182525, + "controller_max_neighbours": 79, + "ground_restitution": 0.6557229886032847, + "ground_friction": 0.8032739044059407, + "object_restitution": 0.7714180225786539, + "object_friction": 0.22951908075912603, + "collision_distance_m": 0.010360654632040897, + "drag_damping": 19.999364089379647, + "dashpot_damping": 131.81176618743518 + } + }, + "pycma": { + "countiter": 16, + "countevals": 176, + "sigma": 0.2236503221808009 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..6dce50c692f6f86903e03044b68a136011fdd989 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de92d855e3a3c25560f3753e65c3da9a834c23ef28f7f957f00b6fbe964102c4 +size 87678 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..018da60e36fac756ab280e09be9d40cee30d8e9f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46704fc4e0ad677dd78ee8e297ef66e615b107eed576d0609f2d905483d3e5ca +size 392224 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..96edac40ac79812e7aa8241e4f172a37c5a1fa66 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 0, + "global_ask_index": 176, + "normalized": [ + 0.47877452435839624, + 0.6781917405437428, + 0.9189007493761664, + 0.8579025792948953, + 0.8404912732482811, + 0.6677610675401336, + 0.23792708162793758, + 0.06716939665466506, + 0.07073701684220499, + 0.0013411768990359294, + 0.9543454583242031, + 0.0557352016095094 + ], + "settings": { + "spring_y": 47877.45243583962, + "object_radius_m": 0.03712766962174971, + "object_max_neighbours": 46, + "controller_radius_m": 0.07005318055064268, + "controller_max_neighbours": 68, + "ground_restitution": 0.6677610675401336, + "ground_friction": 0.47585416325587515, + "object_restitution": 0.06716939665466506, + "object_friction": 0.14147403368440997, + "collision_distance_m": 0.010053647075961437, + "drag_damping": 19.086909166484062, + "dashpot_damping": 11.14704032190188 + }, + "topology": { + "object_springs": 17417, + "controller_springs": 2040, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03708209469914436 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.06928344815969467 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 258, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 1088, + "hand_B": 952 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.72757055494003, + "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": 0.05298958579078317, + "workspace_s": 0.20053425594232976, + "objective_s": 0.006001746980473399, + "stage_capture_s": 0.12916001793928444, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0073730130679905415, + "complete_s": 0.018107941141352057 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010979780927300453, + "complete_s": 0.0002408078871667385 + } + }, + "total_s": 0.3542721818666905 + } + } + }, + "wall_time_s": 8.616747829830274, + "outcome": "finite", + "score": 0.001074982342875611, + "tell_score": 0.001074982342875611, + "observation_score": 0.0006678647097271759, + "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/g016/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..596c1877d6f6ccc70653ebfdab535716956187f8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d2ed02fe5358917078aad501c778f40f001a2f504df0e2c0fb86b7e31a42566 +size 2528922 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..d46f8187c1bd1f1914e335867b736053edd82096 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5878401ea4726f9149d49e3115c77fcb846e3cd74e8c8e7cb0237e615cbecdab +size 75502 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..bc052db1d026611ba0a960bff6a3928f1949c88d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:235edea3a2c8ad4d20c38e47ca275eff09355fcc7e8530a23c9601e70f2615c3 +size 331244 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2119fddba072b743ffa6b96c04788f1775fa4435 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 1, + "global_ask_index": 177, + "normalized": [ + 0.5040437182294448, + 0.8649985105554818, + 0.8229278782729705, + 0.34749087875969353, + 0.8867347044001405, + 0.7038715706768284, + 0.020635156256798036, + 0.3672100029507088, + 0.3526573116459941, + 0.14780448721760656, + 0.8812863147019249, + 0.4598931373982584 + ], + "settings": { + "spring_y": 50404.371822944486, + "object_radius_m": 0.04459994042221928, + "object_max_neighbours": 42, + "controller_radius_m": 0.03432436151317855, + "controller_max_neighbours": 72, + "ground_restitution": 0.7038715706768284, + "ground_friction": 0.04127031251359607, + "object_restitution": 0.3672100029507088, + "object_friction": 0.7053146232919882, + "collision_distance_m": 0.015912179488704263, + "drag_damping": 17.625726294038497, + "dashpot_damping": 91.97862747965168 + }, + "topology": { + "object_springs": 15967, + "controller_springs": 441, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03535321727395058 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.0343155562877655 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 170, + "controls_without_attachment": 13, + "attachments_by_hand": { + "hand_A": 292, + "hand_B": 149 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.72757055494003, + "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": 0.13084760890342295, + "workspace_s": 0.18016598699614406, + "objective_s": 0.0056501729413867, + "stage_capture_s": 0.12382226111367345, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007299905875697732, + "complete_s": 0.01759773981757462 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.182305075228214e-05, + "complete_s": 0.00021967804059386253 + } + }, + "total_s": 0.3276508229319006 + } + } + }, + "wall_time_s": 8.21169113391079, + "outcome": "finite", + "score": 0.0010926752262193967, + "tell_score": 0.0010926752262193967, + "observation_score": 0.0005676681606013417, + "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/g016/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..63b0a4e149a5215170a4ddd0453f2e8a2e7627eb --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e3e85157e5642ff16d5d9d6118d7ea7e56c15fd6a057efe20abd5551ce958dc +size 2528882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..b842f8bdc7868e6977102eb3881814e639edfcaa --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66799e682a0577cf3922eeba21c05b631a4e0a99ad2d75cb42e7658569880fd2 +size 74878 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..8fea62248be6a29280cf816e1958b67d62b5276a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb9f9fe36549c2ea12b960c9d3ac79f25918dd1806608285c6a9bb4a2e2f89ff +size 328012 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..d20c9bd16ebc44f161e1e6d39148dd8dd7b7c69d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 2, + "global_ask_index": 178, + "normalized": [ + 0.17636178192286822, + 0.9865468497470343, + 0.7590650938495397, + 0.47968674969821845, + 0.9272422598231407, + 0.9002645969440531, + 0.00837620438094866, + 0.32648740722841946, + 0.19422104475643043, + 0.2820435786877511, + 0.7045157972357079, + 0.29640205969369765 + ], + "settings": { + "spring_y": 17636.17819228682, + "object_radius_m": 0.049461873989881375, + "object_max_neighbours": 40, + "controller_radius_m": 0.043578072478875296, + "controller_max_neighbours": 74, + "ground_restitution": 0.9002645969440531, + "ground_friction": 0.01675240876189732, + "object_restitution": 0.32648740722841946, + "object_friction": 0.38844208951286086, + "collision_distance_m": 0.021281743147510045, + "drag_damping": 14.090315944714158, + "dashpot_damping": 59.28041193873953 + }, + "topology": { + "object_springs": 15244, + "controller_springs": 1002, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.033867668360471725 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.043556030839681625 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 217, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 591, + "hand_B": 411 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.538973309099674, + "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": 0.04612749605439603, + "workspace_s": 0.1801864649169147, + "objective_s": 0.005664448952302337, + "stage_capture_s": 0.12438604421913624, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007143610855564475, + "complete_s": 0.017306205816566944 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011612381786108017, + "complete_s": 0.000249410979449749 + } + }, + "total_s": 0.32795102591626346 + } + } + }, + "wall_time_s": 8.404516733018681, + "outcome": "finite", + "score": 0.001170363136893897, + "tell_score": 0.001170363136893897, + "observation_score": 0.0007853631392586503, + "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/g016/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab014e6cd66de693bdbc7d51ab312b21a19d9b1b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04c3b7627ae0c45434ba865d40af61671137a6af74ec8fe8b2e3fd0e87d2e71f +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..148d514394346eebd6df2d2b2723397185cff447 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f7d6289278fcade33bef02ee4d6aa448b45648749f7b55c5fca61d7e44a57a4 +size 79326 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..b87e79945e69d98b353bacd6b2a9b193d66e4974 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b3df33eb4d26c5f4024af3f22456e10df4c9efe009f0bf78651afeec94e5aca +size 350288 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..008f8a4428056877230ca17870b73f650b1a1f99 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 3, + "global_ask_index": 179, + "normalized": [ + 0.7441952538221103, + 0.7361286541297106, + 0.8406713658275443, + 0.47954438803912347, + 0.986751940468229, + 0.4369456763239249, + 0.15283834753748668, + 0.12534520467040483, + 0.0028045834686367056, + 0.002621379661166827, + 0.9934571741005757, + 0.6910973991136518 + ], + "settings": { + "spring_y": 74419.52538221102, + "object_radius_m": 0.039445146165188426, + "object_max_neighbours": 43, + "controller_radius_m": 0.04356810716273865, + "controller_max_neighbours": 79, + "ground_restitution": 0.4369456763239249, + "ground_friction": 0.30567669507497336, + "object_restitution": 0.12534520467040483, + "object_friction": 0.005609166937273411, + "collision_distance_m": 0.010104855186446673, + "drag_damping": 19.869143482011513, + "dashpot_damping": 138.21947982273036 + }, + "topology": { + "object_springs": 16343, + "controller_springs": 1017, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03661871328949928 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.043556030839681625 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 606, + "hand_B": 411 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.538973309099674, + "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": 0.1283058209810406, + "workspace_s": 0.19104616902768612, + "objective_s": 0.005641044117510319, + "stage_capture_s": 0.12520252889953554, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00701027293689549, + "complete_s": 0.017391456989571452 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 8.890219032764435e-05, + "complete_s": 0.00021664099767804146 + } + }, + "total_s": 0.33966075512580574 + } + } + }, + "wall_time_s": 8.03254248900339, + "outcome": "finite", + "score": 0.00099651530007616, + "tell_score": 0.00099651530007616, + "observation_score": 0.0004817490177597735, + "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/g016/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..e5ad93492989fb853814995cf33c9f37f389948f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ed21321b9cf792b3a49dc9bdfa55c64d888d7f53b9b59fd589ab1be0152f3d3 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..a42c4970a3b2168db41f57922797e418791a39a5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c07502bfcf0178d27f3b9bef7aa2b42eb10df2506b8511d510ff90a5efab2713 +size 81290 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2e49dbaf6e7c620ce853454656d51617a7c1d2a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4f857d5780b2c51fb1ddf660ecdc19452398fb0410e038b31c8e253ae4f8ce3 +size 360108 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..8b642855a091605d82fe806db59e7b9e9ae5d855 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 4, + "global_ask_index": 180, + "normalized": [ + 0.5149215567355205, + 0.5054846881595498, + 0.9283416069052507, + 0.27157045905299493, + 0.9488229911349063, + 0.5797288607225655, + 0.01166637664076261, + 0.12715035927590942, + 0.08656994937323814, + 0.0017881074805584476, + 0.9617046574159558, + 0.541938925631269 + ], + "settings": { + "spring_y": 51492.15567355206, + "object_radius_m": 0.030219387526381994, + "object_max_neighbours": 47, + "controller_radius_m": 0.02900993213370965, + "controller_max_neighbours": 76, + "ground_restitution": 0.5797288607225655, + "ground_friction": 0.02333275328152522, + "object_restitution": 0.12715035927590942, + "object_friction": 0.17313989874647628, + "collision_distance_m": 0.010071524299222338, + "drag_damping": 19.234093148319115, + "dashpot_damping": 108.3877851262538 + }, + "topology": { + "object_springs": 17603, + "controller_springs": 248, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.030184438452124596 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.02896914817392826 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 118, + "controls_without_attachment": 18, + "attachments_by_hand": { + "hand_A": 170, + "hand_B": 78 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.892421147087589, + "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": 0.05369219486601651, + "workspace_s": 0.19331333204172552, + "objective_s": 0.00564382690936327, + "stage_capture_s": 0.12379709701053798, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007124750874936581, + "complete_s": 0.017749152844771743 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.839585982263088e-05, + "complete_s": 0.0002329337876290083 + } + }, + "total_s": 0.3409262550994754 + } + } + }, + "wall_time_s": 8.784964547026902, + "outcome": "finite", + "score": 0.000911398428119885, + "tell_score": 0.000911398428119885, + "observation_score": 0.0004794986040356082, + "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/g016/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..aab264dc79febac3a31a54bcf3af95020140f1b3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e21925e0200ca51740ee8b305ba0c38402f0e8d53597cab2e463d73503108be +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b49b53d410bcbb599aa16da249578ccbb99b83e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13005d1f49a94c903f44acb09d1a3f36df76fb37ffeb83fe8bc1e09b5b3633fb +size 84990 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..cbab8718a0fe827dd8d39c17385122d49488e859 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:309d413a1fd0821b8b7832b8aeda9ad1e74746934d86beb418983f42645422cb +size 378844 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..e98dca9b4ec4b5efd8a25ed103759d16427ff465 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 5, + "global_ask_index": 181, + "normalized": [ + 0.9849520746942755, + 0.9158173671685567, + 0.950735220027758, + 0.40171410432765436, + 0.858884670133308, + 0.7793029790917807, + 0.00012570370821680366, + 0.7451396584820155, + 0.16656955960461906, + 0.04432631014331082, + 0.994897221165738, + 0.6250357697370079 + ], + "settings": { + "spring_y": 98495.20746942755, + "object_radius_m": 0.04663269468674227, + "object_max_neighbours": 48, + "controller_radius_m": 0.03811998730293581, + "controller_max_neighbours": 70, + "ground_restitution": 0.7793029790917807, + "ground_friction": 0.0002514074164336073, + "object_restitution": 0.7451396584820155, + "object_friction": 0.3331391192092381, + "collision_distance_m": 0.011773052405732433, + "drag_damping": 19.897944423314758, + "dashpot_damping": 125.00715394740158 + }, + "topology": { + "object_springs": 18177, + "controller_springs": 611, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.040119290351867676 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.03810432553291321 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 193, + "controls_without_attachment": 9, + "attachments_by_hand": { + "hand_A": 402, + "hand_B": 209 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.892421147087589, + "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": 0.12954560411162674, + "workspace_s": 0.19686254300177097, + "objective_s": 0.0057720288168638945, + "stage_capture_s": 0.12454444915056229, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007048058090731502, + "complete_s": 0.01782261417247355 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011428305879235268, + "complete_s": 0.0002752048894762993 + } + }, + "total_s": 0.34547131694853306 + } + } + }, + "wall_time_s": 8.392603941028938, + "outcome": "finite", + "score": 0.0011598897116937316, + "tell_score": 0.0011598897116937316, + "observation_score": 0.0004809235414450271, + "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/g016/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..fed5f1138523ecfd99f245a9aca43b1b3ac483ae --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceedda45049f37f6234b2da601810435db6b9fde0391a3d1be0b0e49d97758a8 +size 2528910 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..50908d1ef012c686c996090e878aed77c2d76619 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89dca2421dcbd2b433c04f83a59e57035e6ed85a85ec680a4faba58cbb815e05 +size 78314 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc3ae0891bf98c6b32f134cf37bdba141c56bb89 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d660535dad85dc82ea58690d440066b20cb2f9d94fc7c81c0ba84919baa67830 +size 345408 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..65facca54c80a69c4704647597c40a1a457f0a8d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 6, + "global_ask_index": 182, + "normalized": [ + 0.528581012731878, + 0.8754026811543295, + 0.8930388784545104, + 0.14050369505380184, + 0.9431049186713067, + 0.4894908361038534, + 0.19619156821433065, + 0.08908313125579348, + 0.2712671017741812, + 0.2157130728269801, + 0.8339540769906582, + 0.09299216453916509 + ], + "settings": { + "spring_y": 52858.1012731878, + "object_radius_m": 0.045016107246173186, + "object_max_neighbours": 45, + "controller_radius_m": 0.01983525865376613, + "controller_max_neighbours": 76, + "ground_restitution": 0.4894908361038534, + "ground_friction": 0.3923831364286613, + "object_restitution": 0.08908313125579348, + "object_friction": 0.5425342035483623, + "collision_distance_m": 0.018628522913079204, + "drag_damping": 16.67908153981316, + "dashpot_damping": 18.59843290783302 + }, + "topology": { + "object_springs": 17059, + "controller_springs": 57, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03765278309583664 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.019784623757004738 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 51, + "controls_without_attachment": 23, + "attachments_by_hand": { + "hand_A": 37, + "hand_B": 20 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.847618937026709, + "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": 0.04959201393648982, + "workspace_s": 0.19004043098539114, + "objective_s": 0.005987892858684063, + "stage_capture_s": 0.1269999290816486, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007514626020565629, + "complete_s": 0.017901469953358173 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010309694334864616, + "complete_s": 0.0002297449391335249 + } + }, + "total_s": 0.34134675189852715 + } + } + }, + "wall_time_s": 8.725397194037214, + "outcome": "finite", + "score": 0.00300619829501914, + "tell_score": 0.00300619829501914, + "observation_score": 0.002776101843140737, + "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/g016/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..cd07a8ad405f541aeb75e953259b0f1a6289e176 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:270d95184aefa88553f460e83b7e397f3ea84a594806a5f3fd3bbbe207f966fe +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..a94b54db04c7f946e1b6877d8747e8aebc94c09e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4475476f90e41d192438bff6f838091512ef3da9dd0a525e21c282c2b051781d +size 82270 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..11908752ebf3a45c5bc45f725f874385ae03beb8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26794123d88be0d02023e5ffea67ef269d7a629b7ddb5c0e76dab56fd9330d66 +size 365028 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..6e34b0e0b6d45b3a7a693728d921978aa738cf4e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 7, + "global_ask_index": 183, + "normalized": [ + 0.31118624631518, + 0.6343105071685495, + 0.9427175069325955, + 0.3055785151082933, + 0.848610828553996, + 0.4835125071852302, + 0.14694166393602204, + 0.49210047043765215, + 0.00010227971804659475, + 0.005987695549646201, + 0.9673517873775959, + 0.7206961083814432 + ], + "settings": { + "spring_y": 31118.624631518, + "object_radius_m": 0.03537242028674198, + "object_max_neighbours": 47, + "controller_radius_m": 0.031390496057580534, + "controller_max_neighbours": 69, + "ground_restitution": 0.4835125071852302, + "ground_friction": 0.2938833278720441, + "object_restitution": 0.49210047043765215, + "object_friction": 0.0002045594360931895, + "collision_distance_m": 0.010239507821985848, + "drag_damping": 19.347035747551917, + "dashpot_damping": 144.13922167628863 + }, + "topology": { + "object_springs": 17778, + "controller_springs": 319, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.03535321727395058 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.031337324529886246 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 135, + "controls_without_attachment": 15, + "attachments_by_hand": { + "hand_A": 216, + "hand_B": 103 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.847618937026709, + "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": 0.12833555694669485, + "workspace_s": 0.19248104095458984, + "objective_s": 0.005716999992728233, + "stage_capture_s": 0.12329473393037915, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.0069442689418792725, + "complete_s": 0.017682583071291447 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.70698893070221e-05, + "complete_s": 0.00022375001572072506 + } + }, + "total_s": 0.3395694699138403 + } + } + }, + "wall_time_s": 8.340770693961531, + "outcome": "finite", + "score": 0.0010404561802115607, + "tell_score": 0.0010404561802115607, + "observation_score": 0.0005800340584203764, + "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/g016/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4534488bee33023f46a024e111cd8773eaac48bc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3e7fed708e4a82c66aa71435c73d703e5ced9827a7bb3a9ca4d9b062dc8985a +size 2528914 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..a35ce222e601652f96da137d96b85a4f607c3567 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:534d75241e04c9733648e45ce277d17a9aa458d92ba68c681dcbe59739da06d7 +size 84506 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..a973fc25937e9b7d3787c089ef5165a3b4e64317 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62949d4a3218369805f1875be7666851af3ec059f5e09b4fe0bc17f0ce77b258 +size 376292 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..6913d54bd151c096661b9cbf528c609942541028 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g016/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 16, + "ask_index": 8, + "global_ask_index": 184, + "normalized": [ + 0.47674395269711134, + 0.7555975011110179, + 0.997811521340092, + 0.20084454281587233, + 0.9949704713993363, + 0.32456904440746126, + 0.2728424942658149, + 0.2723678435007344, + 0.0002724149187509989, + 0.00510024453000783, + 0.8566520327148857, + 0.3863963089147094 + ], + "settings": { + "spring_y": 47674.39526971113, + "object_radius_m": 0.040223900044440715, + "object_max_neighbours": 49, + "controller_radius_m": 0.024059117997111065, + "controller_max_neighbours": 79, + "ground_restitution": 0.32456904440746126, + "ground_friction": 0.5456849885316298, + "object_restitution": 0.2723678435007344, + "object_friction": 0.0005448298375019978, + "collision_distance_m": 0.010204009781200313, + "drag_damping": 17.133040654297712, + "dashpot_damping": 77.27926178294187 + }, + "topology": { + "object_springs": 18543, + "controller_springs": 117, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.040119290351867676 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.024049632251262665 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 80, + "controls_without_attachment": 22, + "attachments_by_hand": { + "hand_A": 80, + "hand_B": 37 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 7.9187857180368155, + "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": 0.05288702296093106, + "workspace_s": 0.2866363769862801, + "objective_s": 0.005780320148915052, + "stage_capture_s": 0.1275392968673259, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007727169897407293, + "complete_s": 0.018459816928952932 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.849597699940205e-05, + "complete_s": 0.00022972305305302143 + } + }, + "total_s": 0.43882749415934086 + } + } + }, + "wall_time_s": 8.830089112976566, + "outcome": "finite", + "score": 0.002348439440583097, + "tell_score": 0.002348439440583097, + "observation_score": 0.001978941051447228, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +}