serialexperimentsleon commited on
Commit
9b3769f
·
verified ·
1 Parent(s): d2f83ac

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo: payload batch 18/26

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0175.json +423 -0
  2. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0176.json +423 -0
  3. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0177.json +423 -0
  4. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0178.json +423 -0
  5. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0179.json +423 -0
  6. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0180.json +423 -0
  7. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0181.json +423 -0
  8. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0182.json +423 -0
  9. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0183.json +423 -0
  10. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0184.json +423 -0
  11. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0185.json +423 -0
  12. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0186.json +423 -0
  13. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0187.json +423 -0
  14. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0188.json +423 -0
  15. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0189.json +423 -0
  16. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0190.json +423 -0
  17. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0191.json +423 -0
  18. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0192.json +423 -0
  19. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0193.json +423 -0
  20. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0194.json +423 -0
  21. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0195.json +423 -0
  22. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0196.json +423 -0
  23. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0197.json +423 -0
  24. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0198.json +423 -0
  25. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0199.json +423 -0
  26. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0200.json +423 -0
  27. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0201.json +423 -0
  28. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0202.json +423 -0
  29. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0203.json +423 -0
  30. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0204.json +423 -0
  31. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0205.json +423 -0
  32. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0206.json +423 -0
  33. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0207.json +423 -0
  34. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0208.json +423 -0
  35. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0209.json +423 -0
  36. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0210.json +423 -0
  37. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0211.json +423 -0
  38. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0212.json +423 -0
  39. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0213.json +423 -0
  40. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0214.json +423 -0
  41. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0215.json +423 -0
  42. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0216.json +423 -0
  43. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0217.json +423 -0
  44. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0218.json +423 -0
  45. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0219.json +423 -0
  46. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0220.json +423 -0
  47. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0221.json +423 -0
  48. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0222.json +423 -0
  49. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0223.json +423 -0
  50. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0224.json +423 -0
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0175.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0175",
5
+ "executed_epochs": 175,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_7adb60edc81c4abb97de206ed3db4933.npz",
37
+ "optimizer_file": "boundary_7adb60edc81c4abb97de206ed3db4933_optimizer.pt",
38
+ "arrays_sha256": "8a49eee6ea25e560cb1ea875f066b5fb280f2363a3317c712c0cd2d95f8faad1",
39
+ "optimizer_sha256": "87a141358214d852627fabae4e1d6456399899174cd7c92f6fd4f7f7fb3268f7",
40
+ "stage": "adam",
41
+ "completed_passes": 175,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 27825,
45
+ "adam_update_count": 27825,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 176,
49
+ "consumed_count": 175,
50
+ "last_submitted_update": 27825,
51
+ "last_consumed_update": 27666,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 27825,
56
+ "completed_passes": 175,
57
+ "next_interval": 0,
58
+ "trained_intervals": 27825,
59
+ "snapshot": "pass_end_0175",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 175,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 27825,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 27825,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002594215620774776,
83
+ "update_l2": 0.21434129774570465
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0018377425149083138,
91
+ "update_l2": 0.0001835748553276062
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 7.471210847143084e-05,
95
+ "update_l2": 0.010669378563761711
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08963957474006455,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9548,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09494621306657791,
117
+ "ground_restitution/effective": 0.09494621306657791,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08963957474006455,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02856937050819397,
129
+ "ssim_fused": 0.8965041637420654,
130
+ "seg_l1": 0.03172434866428375,
131
+ "seg_ssim_ref": 0.8965026140213013,
132
+ "depth": 0.005964640510489795,
133
+ "rgb_loss": 0.04355465993285179,
134
+ "seg_loss": 0.04607895389199257,
135
+ "total": 0.08963957474006455
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03727903962135315,
141
+ "ssim_fused": 0.8833179473876953,
142
+ "seg_l1": 0.03324085474014282,
143
+ "seg_ssim_ref": 0.8833168745040894,
144
+ "depth": 0.009367892035752301,
145
+ "rgb_loss": 0.05315964296460152,
146
+ "seg_loss": 0.049929309636354446,
147
+ "total": 0.10309832049299171,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009367892035752301,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00651591395415508
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.037154730409383774,
174
+ "ssim_fused": 0.8696584105491638,
175
+ "seg_l1": 0.05001614987850189,
176
+ "seg_ssim_ref": 0.8696563839912415,
177
+ "depth": 0.006722151563111433,
178
+ "rgb_loss": 0.055792100727558136,
179
+ "seg_loss": 0.06608164310455322,
180
+ "total": 0.12188046598367447,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006722151563111433,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.005278631597833656
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02024209126830101,
207
+ "ssim_fused": 0.9201966524124146,
208
+ "seg_l1": 0.021824941039085388,
209
+ "seg_ssim_ref": 0.9201951026916504,
210
+ "depth": 0.005027439573307573,
211
+ "rgb_loss": 0.03215434402227402,
212
+ "seg_loss": 0.03342093527317047,
213
+ "total": 0.0655803067350178,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005027439573307573,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00468603766358535
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.0196016114205122,
240
+ "ssim_fused": 0.9128437638282776,
241
+ "seg_l1": 0.02181544527411461,
242
+ "seg_ssim_ref": 0.9128421545028687,
243
+ "depth": 0.0027410788697878725,
244
+ "rgb_loss": 0.0331125371158123,
245
+ "seg_loss": 0.034883927553892136,
246
+ "total": 0.06799920574857422,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0027410788697878725,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0022318427586767615
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 175,
281
+ "adam_update_count": 27825
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3504633167758584
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_7adb60edc81c4abb97de206ed3db4933_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 176,
293
+ "next_interval": 0,
294
+ "next_adam_update": 27826,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 175,
300
+ "trained_intervals": 27825,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 27825,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -1.9696768522262573,
333
+ "median": 6.72324275970459,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0947626382112503,
347
+ "median": 0.0947626382112503,
348
+ "max": 0.0947626382112503,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5531357526779175,
354
+ "median": 5.114633083343506,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1395019292831421,
361
+ "median": 831.5093383789062,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.726267337799072,
382
+ "median": 166.44178771972656,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0947626382112503,
410
+ "median": 0.0947626382112503,
411
+ "max": 0.0947626382112503,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9548,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0176.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0176",
5
+ "executed_epochs": 176,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_41f4bcbc53384d48a6c2650f40c9120d.npz",
37
+ "optimizer_file": "boundary_41f4bcbc53384d48a6c2650f40c9120d_optimizer.pt",
38
+ "arrays_sha256": "02c6205d8f65f7f5642315a5ea6e0aeab5073013849336ced1cb00683c0443a2",
39
+ "optimizer_sha256": "272800df4985a389c2719129e125e0f4643067db0f7fcf72217c72fb9f5b2363",
40
+ "stage": "adam",
41
+ "completed_passes": 176,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 27984,
45
+ "adam_update_count": 27984,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 177,
49
+ "consumed_count": 176,
50
+ "last_submitted_update": 27984,
51
+ "last_consumed_update": 27825,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 27984,
56
+ "completed_passes": 176,
57
+ "next_interval": 0,
58
+ "trained_intervals": 27984,
59
+ "snapshot": "pass_end_0176",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 176,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 27984,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 27984,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002789932768791914,
83
+ "update_l2": 0.23959767818450928
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.002918174723163247,
91
+ "update_l2": 0.0010527297854423523
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 5.000138116884045e-05,
95
+ "update_l2": 0.00958100613206625
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09558020472323207,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9610,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.04178471118211746,
117
+ "ground_restitution/effective": 0.04178471118211746,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09558020472323207,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03102511540055275,
129
+ "ssim_fused": 0.8928667306900024,
130
+ "seg_l1": 0.03487546741962433,
131
+ "seg_ssim_ref": 0.8928652405738831,
132
+ "depth": 0.00611819123535734,
133
+ "rgb_loss": 0.04624675586819649,
134
+ "seg_loss": 0.04932732880115509,
135
+ "total": 0.09558020472323207
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.04154912382364273,
141
+ "ssim_fused": 0.8776135444641113,
142
+ "seg_l1": 0.03892719745635986,
143
+ "seg_ssim_ref": 0.8776126503944397,
144
+ "depth": 0.009418848097948875,
145
+ "rgb_loss": 0.05771659314632416,
146
+ "seg_loss": 0.05561922863125801,
147
+ "total": 0.11334523690038982,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009418848097948875,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0065668700163516525
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.04256902262568474,
174
+ "ssim_fused": 0.8611747622489929,
175
+ "seg_l1": 0.0572931170463562,
176
+ "seg_ssim_ref": 0.8611727952957153,
177
+ "depth": 0.007567210559476581,
178
+ "rgb_loss": 0.061820268630981445,
179
+ "seg_loss": 0.0735999345779419,
180
+ "total": 0.1354277704194828,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.007567210559476581,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.006123690594198804
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02051991969347,
207
+ "ssim_fused": 0.9185501933097839,
208
+ "seg_l1": 0.021784808486700058,
209
+ "seg_ssim_ref": 0.9185485243797302,
210
+ "depth": 0.004772010007940957,
211
+ "rgb_loss": 0.03270589932799339,
212
+ "seg_loss": 0.03371814265847206,
213
+ "total": 0.0664288139964734,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004772010007940957,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004430608098218734
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019462401047348976,
240
+ "ssim_fused": 0.914128303527832,
241
+ "seg_l1": 0.021496735513210297,
242
+ "seg_ssim_ref": 0.9141268134117126,
243
+ "depth": 0.002714696276062944,
244
+ "rgb_loss": 0.032744258642196655,
245
+ "seg_loss": 0.03437202423810959,
246
+ "total": 0.06711899757658231,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002714696276062944,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002205460164951833
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 176,
281
+ "adam_update_count": 27984
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.33695467514917254
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_41f4bcbc53384d48a6c2650f40c9120d_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 177,
293
+ "next_interval": 0,
294
+ "next_adam_update": 27985,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 176,
300
+ "trained_intervals": 27984,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 27984,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -1.997761845588684,
333
+ "median": 6.721298694610596,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.04073198139667511,
347
+ "median": 0.04073198139667511,
348
+ "max": 0.04073198139667511,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5561405420303345,
354
+ "median": 5.1276140213012695,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1356385350227356,
361
+ "median": 829.8946533203125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.740490436553955,
382
+ "median": 168.61865234375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.04073198139667511,
410
+ "median": 0.04073198139667511,
411
+ "max": 0.04073198139667511,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9613,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0177.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0177",
5
+ "executed_epochs": 177,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_7bd03d47c40b477db4d82a267c601254.npz",
37
+ "optimizer_file": "boundary_7bd03d47c40b477db4d82a267c601254_optimizer.pt",
38
+ "arrays_sha256": "1832fb8772cc536c897b861cd9ba447cb52a1ff98d7ef8b310eee77b72cacc9c",
39
+ "optimizer_sha256": "83689531e807e8bf9e137525c0939fb9805c425de65112d075ac62adb79a3093",
40
+ "stage": "adam",
41
+ "completed_passes": 177,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28143,
45
+ "adam_update_count": 28143,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 178,
49
+ "consumed_count": 177,
50
+ "last_submitted_update": 28143,
51
+ "last_consumed_update": 27984,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28143,
56
+ "completed_passes": 177,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28143,
59
+ "snapshot": "pass_end_0177",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 177,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28143,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28143,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003606946556828916,
83
+ "update_l2": 0.20394420623779297
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0022290567867457867,
91
+ "update_l2": 0.0005327239632606506
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.500382081256248e-05,
95
+ "update_l2": 0.0077062249183654785
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09808373482902474,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9670,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08657762408256531,
117
+ "ground_restitution/effective": 0.08657762408256531,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09808373482902474,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03167101740837097,
129
+ "ssim_fused": 0.8913459181785583,
130
+ "seg_l1": 0.03659672662615776,
131
+ "seg_ssim_ref": 0.8913443684577942,
132
+ "depth": 0.0075999089045107,
133
+ "rgb_loss": 0.047067634761333466,
134
+ "seg_loss": 0.051008500158786774,
135
+ "total": 0.09808373482902474
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.04056846350431442,
141
+ "ssim_fused": 0.8778412342071533,
142
+ "seg_l1": 0.037235040217638016,
143
+ "seg_ssim_ref": 0.8778401613235474,
144
+ "depth": 0.011179166781567424,
145
+ "rgb_loss": 0.056886523962020874,
146
+ "seg_loss": 0.05421999841928482,
147
+ "total": 0.11111770154808726,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.011179166781567424,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.008327188699970203
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.041281286627054214,
174
+ "ssim_fused": 0.862968385219574,
175
+ "seg_l1": 0.05696607381105423,
176
+ "seg_ssim_ref": 0.8629664778709412,
177
+ "depth": 0.008794784993869771,
178
+ "rgb_loss": 0.060431353747844696,
179
+ "seg_loss": 0.07297956198453903,
180
+ "total": 0.1334197105173776,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.008794784993869771,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.007351265028591992
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02293301559984684,
207
+ "ssim_fused": 0.9153839945793152,
208
+ "seg_l1": 0.026486588642001152,
209
+ "seg_ssim_ref": 0.9153825044631958,
210
+ "depth": 0.006477989159766843,
211
+ "rgb_loss": 0.035269614309072495,
212
+ "seg_loss": 0.03811277076601982,
213
+ "total": 0.07338886306425209,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.006477989159766843,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.006136587250044621
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.021901307627558708,
240
+ "ssim_fused": 0.9091899991035461,
241
+ "seg_l1": 0.025699198246002197,
242
+ "seg_ssim_ref": 0.909188449382782,
243
+ "depth": 0.003947694682838758,
244
+ "rgb_loss": 0.0356830470263958,
245
+ "seg_loss": 0.03872166946530342,
246
+ "total": 0.07440866418638206,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003947694682838758,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.003438458571727646
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 177,
281
+ "adam_update_count": 28143
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.33717095106840134
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_7bd03d47c40b477db4d82a267c601254_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 178,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28144,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 177,
300
+ "trained_intervals": 28143,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28143,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.0026745796203613,
333
+ "median": 6.714023113250732,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08604490011930466,
347
+ "median": 0.08604490011930466,
348
+ "max": 0.08604490011930466,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5408128499984741,
354
+ "median": 5.115349769592285,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.13497380912303925,
361
+ "median": 823.8785400390625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.668383598327637,
382
+ "median": 166.5607452392578,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08604490011930466,
410
+ "median": 0.08604490011930466,
411
+ "max": 0.08604490011930466,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9670,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0178.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0178",
5
+ "executed_epochs": 178,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_64d13202869a469ea641bd7e86303e88.npz",
37
+ "optimizer_file": "boundary_64d13202869a469ea641bd7e86303e88_optimizer.pt",
38
+ "arrays_sha256": "25805c75039e477df502ca409b4150aac4902d2df79d8641f928896bca3b48ea",
39
+ "optimizer_sha256": "8083a9445ad9391095e17f239aeddea3252c4000a3c60cd67095ec83ae9e0125",
40
+ "stage": "adam",
41
+ "completed_passes": 178,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28302,
45
+ "adam_update_count": 28302,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 179,
49
+ "consumed_count": 178,
50
+ "last_submitted_update": 28302,
51
+ "last_consumed_update": 28143,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28302,
56
+ "completed_passes": 178,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28302,
59
+ "snapshot": "pass_end_0178",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 178,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28302,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28302,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001966097770491615,
83
+ "update_l2": 0.21791525185108185
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0012843614676967263,
91
+ "update_l2": 0.0001568049192428589
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.002974517585244e-05,
95
+ "update_l2": 0.01215352863073349
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0820837147733369,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9729,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09245941042900085,
117
+ "ground_restitution/effective": 0.09245941042900085,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0820837147733369,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.0257286224514246,
129
+ "ssim_fused": 0.9014428853988647,
130
+ "seg_l1": 0.027591243386268616,
131
+ "seg_ssim_ref": 0.9014414548873901,
132
+ "depth": 0.004685131291404509,
133
+ "rgb_loss": 0.04029431566596031,
134
+ "seg_loss": 0.04178471118211746,
135
+ "total": 0.0820837147733369
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03466757759451866,
141
+ "ssim_fused": 0.8866559863090515,
142
+ "seg_l1": 0.03089582361280918,
143
+ "seg_ssim_ref": 0.8866550922393799,
144
+ "depth": 0.008129007247218914,
145
+ "rgb_loss": 0.050402864813804626,
146
+ "seg_loss": 0.04738564044237137,
147
+ "total": 0.09779663426342321,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008129007247218914,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0052770291656216925
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.033058155328035355,
174
+ "ssim_fused": 0.8785768151283264,
175
+ "seg_l1": 0.04348073527216911,
176
+ "seg_ssim_ref": 0.8785749673843384,
177
+ "depth": 0.0049684556243366875,
178
+ "rgb_loss": 0.05073115974664688,
179
+ "seg_loss": 0.059069596230983734,
180
+ "total": 0.10980572443325495,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0049684556243366875,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0035249356590589093
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018024122342467308,
207
+ "ssim_fused": 0.9225637316703796,
208
+ "seg_l1": 0.018072396516799927,
209
+ "seg_ssim_ref": 0.9225621223449707,
210
+ "depth": 0.0037739398535136647,
211
+ "rgb_loss": 0.02990655228495598,
212
+ "seg_loss": 0.0299454927444458,
213
+ "total": 0.05985581896925529,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0037739398535136647,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003432537943791443
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01716463454067707,
240
+ "ssim_fused": 0.9179750680923462,
241
+ "seg_l1": 0.017916014418005943,
242
+ "seg_ssim_ref": 0.9179734587669373,
243
+ "depth": 0.0018691224405487687,
244
+ "rgb_loss": 0.03013669326901436,
245
+ "seg_loss": 0.030738119035959244,
246
+ "total": 0.06087668142741415,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018691224405487687,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0013598863294376575
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 178,
281
+ "adam_update_count": 28302
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3320076400414109
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_64d13202869a469ea641bd7e86303e88_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 179,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28303,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 178,
300
+ "trained_intervals": 28302,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28302,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.0197043418884277,
333
+ "median": 6.70674991607666,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09261621534824371,
347
+ "median": 0.09261621534824371,
348
+ "max": 0.09261621534824371,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5198897123336792,
354
+ "median": 5.099087715148926,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.13269469141960144,
361
+ "median": 817.9080810546875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.571721076965332,
382
+ "median": 163.87242126464844,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09261621534824371,
410
+ "median": 0.09261621534824371,
411
+ "max": 0.09261621534824371,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9731,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0179.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0179",
5
+ "executed_epochs": 179,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b8333d7835fd4664ba27f0b0fdc96d7f.npz",
37
+ "optimizer_file": "boundary_b8333d7835fd4664ba27f0b0fdc96d7f_optimizer.pt",
38
+ "arrays_sha256": "156127673806225e8d414432c65f4d1d99a0995311cee9119ec9f5da75d44c4a",
39
+ "optimizer_sha256": "ab4b430b6a6f35dfa8d73474e31063eb74d0025d672f20c80e182516343783ae",
40
+ "stage": "adam",
41
+ "completed_passes": 179,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28461,
45
+ "adam_update_count": 28461,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 180,
49
+ "consumed_count": 179,
50
+ "last_submitted_update": 28461,
51
+ "last_consumed_update": 28302,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28461,
56
+ "completed_passes": 179,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28461,
59
+ "snapshot": "pass_end_0179",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 179,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28461,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28461,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002265873336000368,
83
+ "update_l2": 0.21068930625915527
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.000590065959841013,
91
+ "update_l2": 0.00040499866008758545
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2828129911213182e-05,
95
+ "update_l2": 0.010456855408847332
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07988116894491847,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9797,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.06838840246200562,
117
+ "ground_restitution/effective": 0.06838840246200562,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07988116894491847,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.024886973202228546,
129
+ "ssim_fused": 0.902389407157898,
130
+ "seg_l1": 0.02615366131067276,
131
+ "seg_ssim_ref": 0.9023877382278442,
132
+ "depth": 0.004099724971601552,
133
+ "rgb_loss": 0.03943169116973877,
134
+ "seg_loss": 0.04044537991285324,
135
+ "total": 0.07988116894491847
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.034361355006694794,
141
+ "ssim_fused": 0.8841637969017029,
142
+ "seg_l1": 0.030331816524267197,
143
+ "seg_ssim_ref": 0.8841623067855835,
144
+ "depth": 0.007520871268661512,
145
+ "rgb_loss": 0.05065632611513138,
146
+ "seg_loss": 0.04743299260735512,
147
+ "total": 0.09809684331904546,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007520871268661512,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004668893187064291
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03128964826464653,
174
+ "ssim_fused": 0.8825352787971497,
175
+ "seg_l1": 0.04016296938061714,
176
+ "seg_ssim_ref": 0.8825333714485168,
177
+ "depth": 0.003956455717215108,
178
+ "rgb_loss": 0.04852466285228729,
179
+ "seg_loss": 0.055623702704906464,
180
+ "total": 0.10415232201291097,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003956455717215108,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0025129357519373297
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.016854271292686462,
207
+ "ssim_fused": 0.9245379567146301,
208
+ "seg_l1": 0.01641217991709709,
209
+ "seg_ssim_ref": 0.9245362877845764,
210
+ "depth": 0.0030977944843719398,
211
+ "rgb_loss": 0.028575826436281204,
212
+ "seg_loss": 0.02822248637676239,
213
+ "total": 0.05680141060752797,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0030977944843719398,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.002756392574649718
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017042620107531548,
240
+ "ssim_fused": 0.9183207750320435,
241
+ "seg_l1": 0.01770767942070961,
242
+ "seg_ssim_ref": 0.918319046497345,
243
+ "depth": 0.0018237784161576481,
244
+ "rgb_loss": 0.029969941824674606,
245
+ "seg_loss": 0.030502334237098694,
246
+ "total": 0.060474099840189456,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018237784161576481,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0013145423050465372
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 179,
281
+ "adam_update_count": 28461
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32148326793685555
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b8333d7835fd4664ba27f0b0fdc96d7f_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 180,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28462,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 179,
300
+ "trained_intervals": 28461,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28461,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.045367479324341,
333
+ "median": 6.704070091247559,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0687934011220932,
347
+ "median": 0.0687934011220932,
348
+ "max": 0.0687934011220932,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5496922731399536,
354
+ "median": 5.0998125076293945,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.12933264672756195,
361
+ "median": 815.718994140625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.710020542144775,
382
+ "median": 164.01788330078125,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0687934011220932,
410
+ "median": 0.0687934011220932,
411
+ "max": 0.0687934011220932,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9798,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0180.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0180",
5
+ "executed_epochs": 180,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d14d120af2354cecbfc6d3a0a234b823.npz",
37
+ "optimizer_file": "boundary_d14d120af2354cecbfc6d3a0a234b823_optimizer.pt",
38
+ "arrays_sha256": "e9ba7e3bfed7dde7a1dfafee62ef43a0a953c3d9464e5f8263e30efb72891145",
39
+ "optimizer_sha256": "f817f389828058fc9b7155e0fb4ec947e633e59bb6fe92b17f0fccc843c866b0",
40
+ "stage": "adam",
41
+ "completed_passes": 180,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28620,
45
+ "adam_update_count": 28620,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 181,
49
+ "consumed_count": 180,
50
+ "last_submitted_update": 28620,
51
+ "last_consumed_update": 28461,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28620,
56
+ "completed_passes": 180,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28620,
59
+ "snapshot": "pass_end_0180",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 180,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28620,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28620,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00025662273401394486,
83
+ "update_l2": 0.24741359055042267
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0027725526597350836,
91
+ "update_l2": 0.0006245076656341553
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.605768142733723e-05,
95
+ "update_l2": 0.010680622421205044
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08837682578250117,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9859,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07798027992248535,
117
+ "ground_restitution/effective": 0.07798027992248535,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08837682578250117,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028195656836032867,
129
+ "ssim_fused": 0.8970770835876465,
130
+ "seg_l1": 0.03080648183822632,
131
+ "seg_ssim_ref": 0.8970754742622375,
132
+ "depth": 0.00563460870929224,
133
+ "rgb_loss": 0.04314110428094864,
134
+ "seg_loss": 0.04523008316755295,
135
+ "total": 0.08837682578250117
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03792464733123779,
141
+ "ssim_fused": 0.8811669945716858,
142
+ "seg_l1": 0.03343649208545685,
143
+ "seg_ssim_ref": 0.881165623664856,
144
+ "depth": 0.008942527388578488,
145
+ "rgb_loss": 0.05410631746053696,
146
+ "seg_loss": 0.05051606893539429,
147
+ "total": 0.10463132892331982,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008942527388578488,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006090549306981266
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03617019206285477,
174
+ "ssim_fused": 0.8705956935882568,
175
+ "seg_l1": 0.047884710133075714,
176
+ "seg_ssim_ref": 0.8705937266349792,
177
+ "depth": 0.006139872106742889,
178
+ "rgb_loss": 0.05481701344251633,
179
+ "seg_loss": 0.06418902426958084,
180
+ "total": 0.1190121775842039,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006139872106742889,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004696352141465112
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018914207816123962,
207
+ "ssim_fused": 0.9223574995994568,
208
+ "seg_l1": 0.019529923796653748,
209
+ "seg_ssim_ref": 0.9223559498786926,
210
+ "depth": 0.0044968122795030156,
211
+ "rgb_loss": 0.030659865587949753,
212
+ "seg_loss": 0.031152749434113503,
213
+ "total": 0.061817113696987905,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0044968122795030156,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0041554103697807945
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019773581996560097,
240
+ "ssim_fused": 0.9141882061958313,
241
+ "seg_l1": 0.022374801337718964,
242
+ "seg_ssim_ref": 0.9141867160797119,
243
+ "depth": 0.002959223062344568,
244
+ "rgb_loss": 0.03298122435808182,
245
+ "seg_loss": 0.03506249934434891,
246
+ "total": 0.06804668292549307,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002959223062344568,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002449986951233457
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 180,
281
+ "adam_update_count": 28620
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31175318686291575
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d14d120af2354cecbfc6d3a0a234b823_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 181,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28621,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 180,
300
+ "trained_intervals": 28620,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28620,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.0663902759552,
333
+ "median": 6.703794479370117,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0773557722568512,
347
+ "median": 0.0773557722568512,
348
+ "max": 0.0773557722568512,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.558293342590332,
354
+ "median": 5.096949577331543,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.12664209306240082,
361
+ "median": 815.4943237304688,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.750706672668457,
382
+ "median": 163.5260009765625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0773557722568512,
410
+ "median": 0.0773557722568512,
411
+ "max": 0.0773557722568512,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9859,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0181.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0181",
5
+ "executed_epochs": 181,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_fa4c2284f4d1442ba6ab7e5f4322bb11.npz",
37
+ "optimizer_file": "boundary_fa4c2284f4d1442ba6ab7e5f4322bb11_optimizer.pt",
38
+ "arrays_sha256": "9000fe5e1da000766e8c80b5bd59fa842b87f1fb8e20ca5a9a2f43d7b7a92fd6",
39
+ "optimizer_sha256": "f95a94233bb763b96b44cd75dbfcc26db36df87835a9a0d626c6057297b088b5",
40
+ "stage": "adam",
41
+ "completed_passes": 181,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28779,
45
+ "adam_update_count": 28779,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 182,
49
+ "consumed_count": 181,
50
+ "last_submitted_update": 28779,
51
+ "last_consumed_update": 28620,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28779,
56
+ "completed_passes": 181,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28779,
59
+ "snapshot": "pass_end_0181",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 181,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28779,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28779,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002629642840474844,
83
+ "update_l2": 0.2694321274757385
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0019935958553105593,
91
+ "update_l2": 0.000912785530090332
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 5.7861303503159434e-05,
95
+ "update_l2": 0.013563219457864761
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.10098275498078885,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 9919,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0659882128238678,
117
+ "ground_restitution/effective": 0.0659882128238678,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.10098275498078885,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.033234670758247375,
129
+ "ssim_fused": 0.890028715133667,
130
+ "seg_l1": 0.03799868002533913,
131
+ "seg_ssim_ref": 0.8900271654129028,
132
+ "depth": 0.007250835762643158,
133
+ "rgb_loss": 0.048581987619400024,
134
+ "seg_loss": 0.05239351466298103,
135
+ "total": 0.10098275498078885
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.044279564172029495,
141
+ "ssim_fused": 0.8741124868392944,
142
+ "seg_l1": 0.04117795452475548,
143
+ "seg_ssim_ref": 0.8741113543510437,
144
+ "depth": 0.010561334162854407,
145
+ "rgb_loss": 0.06060115247964859,
146
+ "seg_loss": 0.05812009423971176,
147
+ "total": 0.11873180805352321,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010561334162854407,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0077093560812571856
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.0453202910721302,
174
+ "ssim_fused": 0.8577808737754822,
175
+ "seg_l1": 0.06163810193538666,
176
+ "seg_ssim_ref": 0.8577788472175598,
177
+ "depth": 0.00880390525644464,
178
+ "rgb_loss": 0.06470005959272385,
179
+ "seg_loss": 0.07775471359491348,
180
+ "total": 0.14246357709289378,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.00880390525644464,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.007360385291166862
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.021483177319169044,
207
+ "ssim_fused": 0.9179502725601196,
208
+ "seg_l1": 0.02352074533700943,
209
+ "seg_ssim_ref": 0.9179486632347107,
210
+ "depth": 0.005731205582945452,
211
+ "rgb_loss": 0.03359648957848549,
212
+ "seg_loss": 0.035226862877607346,
213
+ "total": 0.06882908366167578,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005731205582945452,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.005389803673223229
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.02185564674437046,
240
+ "ssim_fused": 0.9102712869644165,
241
+ "seg_l1": 0.025657912716269493,
242
+ "seg_ssim_ref": 0.9102697372436523,
243
+ "depth": 0.003906898048328132,
244
+ "rgb_loss": 0.03543026000261307,
245
+ "seg_loss": 0.038472384214401245,
246
+ "total": 0.07390655111506264,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003906898048328132,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.003397661937217021
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 181,
281
+ "adam_update_count": 28779
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32800931483507156
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_fa4c2284f4d1442ba6ab7e5f4322bb11_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 182,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28780,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 181,
300
+ "trained_intervals": 28779,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28779,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.0957648754119873,
333
+ "median": 6.702705383300781,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.06507542729377747,
347
+ "median": 0.06507542729377747,
348
+ "max": 0.06507542729377747,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5601204633712769,
354
+ "median": 5.112456321716309,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1229761391878128,
361
+ "median": 814.6064453125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.759394645690918,
382
+ "median": 166.07781982421875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.06507542729377747,
410
+ "median": 0.06507542729377747,
411
+ "max": 0.06507542729377747,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 9921,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0182.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0182",
5
+ "executed_epochs": 182,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_1f6221610fc742f993a0a79b38154310.npz",
37
+ "optimizer_file": "boundary_1f6221610fc742f993a0a79b38154310_optimizer.pt",
38
+ "arrays_sha256": "8a4748dad8e739d455cdb84f2e17a84c72adf22c9e404a23937296382da515e0",
39
+ "optimizer_sha256": "8f64c410d678094634c702763a0202ecafdd3a06c627e303ce65f1266a392592",
40
+ "stage": "adam",
41
+ "completed_passes": 182,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 28938,
45
+ "adam_update_count": 28938,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 183,
49
+ "consumed_count": 182,
50
+ "last_submitted_update": 28938,
51
+ "last_consumed_update": 28779,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 28938,
56
+ "completed_passes": 182,
57
+ "next_interval": 0,
58
+ "trained_intervals": 28938,
59
+ "snapshot": "pass_end_0182",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 182,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 28938,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 28938,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00024684041272848845,
83
+ "update_l2": 0.19862444698810577
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0016933638835325837,
91
+ "update_l2": 0.00046124309301376343
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.743339402717538e-05,
95
+ "update_l2": 0.006402646191418171
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08781357398723989,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10001,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.1072583720088005,
117
+ "ground_restitution/effective": 0.1072583720088005,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08781357398723989,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028164468705654144,
129
+ "ssim_fused": 0.8974713683128357,
130
+ "seg_l1": 0.03033071756362915,
131
+ "seg_ssim_ref": 0.8974698781967163,
132
+ "depth": 0.005687684768728019,
133
+ "rgb_loss": 0.0430372878909111,
134
+ "seg_loss": 0.04477059841156006,
135
+ "total": 0.08781357398723989
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03807786852121353,
141
+ "ssim_fused": 0.8809202909469604,
142
+ "seg_l1": 0.03239692375063896,
143
+ "seg_ssim_ref": 0.8809189796447754,
144
+ "depth": 0.009052521091696495,
145
+ "rgb_loss": 0.054278239607810974,
146
+ "seg_loss": 0.04973374307155609,
147
+ "total": 0.10402103520045876,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009052521091696495,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006200543010099273
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.036416128277778625,
174
+ "ssim_fused": 0.8705763220787048,
175
+ "seg_l1": 0.04812122508883476,
176
+ "seg_ssim_ref": 0.8705743551254272,
177
+ "depth": 0.00618013927570777,
178
+ "rgb_loss": 0.05501763895153999,
179
+ "seg_loss": 0.06438211351633072,
180
+ "total": 0.11940593633243672,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.00618013927570777,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0047366193104299925
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01860406994819641,
207
+ "ssim_fused": 0.9236310720443726,
208
+ "seg_l1": 0.01886916719377041,
209
+ "seg_ssim_ref": 0.923629641532898,
210
+ "depth": 0.004480545074101796,
211
+ "rgb_loss": 0.030157042667269707,
212
+ "seg_loss": 0.030369404703378677,
213
+ "total": 0.06053092605307734,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004480545074101796,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004139143164379574
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01955980621278286,
240
+ "ssim_fused": 0.914758026599884,
241
+ "seg_l1": 0.02193554863333702,
242
+ "seg_ssim_ref": 0.9147565960884094,
243
+ "depth": 0.003037533633406015,
244
+ "rgb_loss": 0.03269623965024948,
245
+ "seg_loss": 0.03459712117910385,
246
+ "total": 0.06729639836298675,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003037533633406015,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0025282975222949045
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 182,
281
+ "adam_update_count": 28938
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3208858501166105
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_1f6221610fc742f993a0a79b38154310_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 183,
293
+ "next_interval": 0,
294
+ "next_adam_update": 28939,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 182,
300
+ "trained_intervals": 28938,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 28938,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.120666980743408,
333
+ "median": 6.7021942138671875,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.10679712891578674,
347
+ "median": 0.10679712891578674,
348
+ "max": 0.10679712891578674,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5101428031921387,
354
+ "median": 5.081686973571777,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.11995159834623337,
361
+ "median": 814.1903686523438,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.527377128601074,
382
+ "median": 161.0547637939453,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.10679712891578674,
410
+ "median": 0.10679712891578674,
411
+ "max": 0.10679712891578674,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10001,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0183.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0183",
5
+ "executed_epochs": 183,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_82802991a0044fa6b7682e022d56527e.npz",
37
+ "optimizer_file": "boundary_82802991a0044fa6b7682e022d56527e_optimizer.pt",
38
+ "arrays_sha256": "f764b2483805bfbb47e797af4d94d8a2a6f133a30984d2c6e8c98c9f0bdded42",
39
+ "optimizer_sha256": "32b5c8891daf6df29e9f375fea0daaad8a4c3d1b1e7ec1e1c04228f647834509",
40
+ "stage": "adam",
41
+ "completed_passes": 183,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29097,
45
+ "adam_update_count": 29097,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 184,
49
+ "consumed_count": 183,
50
+ "last_submitted_update": 29097,
51
+ "last_consumed_update": 28938,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29097,
56
+ "completed_passes": 183,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29097,
59
+ "snapshot": "pass_end_0183",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 183,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29097,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29097,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002510921622160822,
83
+ "update_l2": 0.21300163865089417
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.003024896839633584,
91
+ "update_l2": 0.0005699619650840759
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.2022679079091176e-05,
95
+ "update_l2": 0.007632716093212366
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08426803232422037,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10044,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08396933227777481,
117
+ "ground_restitution/effective": 0.08396933227777481,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08426803232422037,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02661733515560627,
129
+ "ssim_fused": 0.899958610534668,
130
+ "seg_l1": 0.028690405189990997,
131
+ "seg_ssim_ref": 0.8999570608139038,
132
+ "depth": 0.0049664943472874515,
133
+ "rgb_loss": 0.0413021519780159,
134
+ "seg_loss": 0.042960911989212036,
135
+ "total": 0.08426803232422037
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03618669509887695,
141
+ "ssim_fused": 0.8842188119888306,
142
+ "seg_l1": 0.03223862126469612,
143
+ "seg_ssim_ref": 0.8842178583145142,
144
+ "depth": 0.008367088305269912,
145
+ "rgb_loss": 0.05210559442639351,
146
+ "seg_loss": 0.048947326838970184,
147
+ "total": 0.10106129207895927,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008367088305269912,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00551511022367269
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.034364003688097,
174
+ "ssim_fused": 0.8747251033782959,
175
+ "seg_l1": 0.04520026594400406,
176
+ "seg_ssim_ref": 0.8747231960296631,
177
+ "depth": 0.0053532269070116385,
178
+ "rgb_loss": 0.0525461807847023,
179
+ "seg_loss": 0.06121557205915451,
180
+ "total": 0.11376710607076382,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0053532269070116385,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.003909706941733861
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01790016144514084,
207
+ "ssim_fused": 0.9234657287597656,
208
+ "seg_l1": 0.01787959225475788,
209
+ "seg_ssim_ref": 0.9234640598297119,
210
+ "depth": 0.0038308371273076364,
211
+ "rgb_loss": 0.029626984149217606,
212
+ "seg_loss": 0.029610861092805862,
213
+ "total": 0.059241676079150776,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0038308371273076364,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0034894352175854145
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018018485978245735,
240
+ "ssim_fused": 0.9174246788024902,
241
+ "seg_l1": 0.019443141296505928,
242
+ "seg_ssim_ref": 0.9174231290817261,
243
+ "depth": 0.0023148250495606203,
244
+ "rgb_loss": 0.03092985413968563,
245
+ "seg_loss": 0.03206988796591759,
246
+ "total": 0.06300205506800763,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0023148250495606203,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0018055889384495094
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 183,
281
+ "adam_update_count": 29097
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3264807718805969
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_82802991a0044fa6b7682e022d56527e_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 184,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29098,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 183,
300
+ "trained_intervals": 29097,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29097,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.151782512664795,
333
+ "median": 6.6993184089660645,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08339937031269073,
347
+ "median": 0.08339937031269073,
348
+ "max": 0.08339937031269073,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5177745819091797,
354
+ "median": 5.079611301422119,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.11627670377492905,
361
+ "median": 811.852294921875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.562061309814453,
382
+ "median": 160.7126922607422,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08339937031269073,
410
+ "median": 0.08339937031269073,
411
+ "max": 0.08339937031269073,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10046,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0184.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0184",
5
+ "executed_epochs": 184,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_0aef95cb43b2479db08f747acbbe63ed.npz",
37
+ "optimizer_file": "boundary_0aef95cb43b2479db08f747acbbe63ed_optimizer.pt",
38
+ "arrays_sha256": "629618884f2f9624c944d6dcfb60acaa42ee25652097a5f0e78a150d37444e42",
39
+ "optimizer_sha256": "4725e6495bd394ff268a02b741b2b8871770700e805b5fffe86d055c9816c819",
40
+ "stage": "adam",
41
+ "completed_passes": 184,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29256,
45
+ "adam_update_count": 29256,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 185,
49
+ "consumed_count": 184,
50
+ "last_submitted_update": 29256,
51
+ "last_consumed_update": 29097,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29256,
56
+ "completed_passes": 184,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29256,
59
+ "snapshot": "pass_end_0184",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 184,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29256,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29256,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00023282850452233106,
83
+ "update_l2": 0.2144159972667694
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.00230329018086195,
91
+ "update_l2": 0.0005614235997200012
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.557503077900037e-05,
95
+ "update_l2": 0.00868195854127407
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08764222495439539,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10115,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09989537298679352,
117
+ "ground_restitution/effective": 0.09989537298679352,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08764222495439539,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027944892644882202,
129
+ "ssim_fused": 0.8973912000656128,
130
+ "seg_l1": 0.030296096578240395,
131
+ "seg_ssim_ref": 0.8973896503448486,
132
+ "depth": 0.005604216783132902,
133
+ "rgb_loss": 0.04287766292691231,
134
+ "seg_loss": 0.044758956879377365,
135
+ "total": 0.08764222495439539
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03769950196146965,
141
+ "ssim_fused": 0.8810669779777527,
142
+ "seg_l1": 0.03287046402692795,
143
+ "seg_ssim_ref": 0.8810656070709229,
144
+ "depth": 0.00899449076206488,
145
+ "rgb_loss": 0.053946204483509064,
146
+ "seg_loss": 0.05008324980735779,
147
+ "total": 0.10403844878162892,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00899449076206488,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006142512680467658
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03619880601763725,
174
+ "ssim_fused": 0.8703576922416687,
175
+ "seg_l1": 0.04787276312708855,
176
+ "seg_ssim_ref": 0.8703557252883911,
177
+ "depth": 0.006142972460619898,
178
+ "rgb_loss": 0.05488750711083412,
179
+ "seg_loss": 0.06422706693410873,
180
+ "total": 0.11912072074269378,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006142972460619898,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.00469945249534212
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018548067659139633,
207
+ "ssim_fused": 0.9231884479522705,
208
+ "seg_l1": 0.018861571326851845,
209
+ "seg_ssim_ref": 0.9231868386268616,
210
+ "depth": 0.004371340888420171,
211
+ "rgb_loss": 0.030200764536857605,
212
+ "seg_loss": 0.03045189008116722,
213
+ "total": 0.060657025958913244,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004371340888420171,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00402993897869795
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01933320052921772,
240
+ "ssim_fused": 0.9149519205093384,
241
+ "seg_l1": 0.021579595282673836,
242
+ "seg_ssim_ref": 0.9149502515792847,
243
+ "depth": 0.0029080630214266584,
244
+ "rgb_loss": 0.03247617557644844,
245
+ "seg_loss": 0.034273624420166016,
246
+ "total": 0.06675270433434559,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0029080630214266584,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0023988269103155475
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 184,
281
+ "adam_update_count": 29256
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3505422477610409
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_0aef95cb43b2479db08f747acbbe63ed_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 185,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29257,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 184,
300
+ "trained_intervals": 29256,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29256,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.1704599857330322,
333
+ "median": 6.697420120239258,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09933394938707352,
347
+ "median": 0.09933394938707352,
348
+ "max": 0.09933394938707352,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5177792310714722,
354
+ "median": 5.080700874328613,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.11412511020898819,
361
+ "median": 810.3128051757812,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.562082290649414,
382
+ "median": 160.89065551757812,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09933394938707352,
410
+ "median": 0.09933394938707352,
411
+ "max": 0.09933394938707352,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10115,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0185.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0185",
5
+ "executed_epochs": 185,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d946bc9eb28a4bdda48e95ebd4a9ade5.npz",
37
+ "optimizer_file": "boundary_d946bc9eb28a4bdda48e95ebd4a9ade5_optimizer.pt",
38
+ "arrays_sha256": "e7a2d7ce643b827090a4309e634bb52be56ccd7543e83d146f751f5c7cdfe8c7",
39
+ "optimizer_sha256": "ca3c6c16a85e27447aaed2bd06bbf51cafd06d851f3efc332847d140b950dcf0",
40
+ "stage": "adam",
41
+ "completed_passes": 185,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29415,
45
+ "adam_update_count": 29415,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 186,
49
+ "consumed_count": 185,
50
+ "last_submitted_update": 29415,
51
+ "last_consumed_update": 29256,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29415,
56
+ "completed_passes": 185,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29415,
59
+ "snapshot": "pass_end_0185",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 185,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29415,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29415,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002220667665824294,
83
+ "update_l2": 0.24080665409564972
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.002987437415868044,
91
+ "update_l2": 0.0011165030300617218
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.736638271017e-05,
95
+ "update_l2": 0.004551291931420565
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09155548547430693,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10166,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.04100017249584198,
117
+ "ground_restitution/effective": 0.04100017249584198,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09155548547430693,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.029476551339030266,
129
+ "ssim_fused": 0.8953858613967896,
130
+ "seg_l1": 0.03265335410833359,
131
+ "seg_ssim_ref": 0.8953841924667358,
132
+ "depth": 0.005573006708029295,
133
+ "rgb_loss": 0.0445040762424469,
134
+ "seg_loss": 0.047045838087797165,
135
+ "total": 0.09155548547430693
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03957506641745567,
141
+ "ssim_fused": 0.8801268339157104,
142
+ "seg_l1": 0.0365135595202446,
143
+ "seg_ssim_ref": 0.8801255822181702,
144
+ "depth": 0.008760827766343071,
145
+ "rgb_loss": 0.05563468486070633,
146
+ "seg_loss": 0.053185731172561646,
147
+ "total": 0.10882917686103431,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008760827766343071,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005908849684745849
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03999045491218567,
174
+ "ssim_fused": 0.8653901815414429,
175
+ "seg_l1": 0.053152408450841904,
176
+ "seg_ssim_ref": 0.8653880953788757,
177
+ "depth": 0.006647961340496161,
178
+ "rgb_loss": 0.05891432613134384,
179
+ "seg_loss": 0.06944430619478226,
180
+ "total": 0.1283652802874666,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006647961340496161,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.005204441375218383
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.019292447715997696,
207
+ "ssim_fused": 0.9206782579421997,
208
+ "seg_l1": 0.019886640831828117,
209
+ "seg_ssim_ref": 0.9206767082214355,
210
+ "depth": 0.004293927837924048,
211
+ "rgb_loss": 0.031298305839300156,
212
+ "seg_loss": 0.031773969531059265,
213
+ "total": 0.06307657302348764,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004293927837924048,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003952525928201826
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019048234447836876,
240
+ "ssim_fused": 0.9153480529785156,
241
+ "seg_l1": 0.021060802042484283,
242
+ "seg_ssim_ref": 0.9153465032577515,
243
+ "depth": 0.0025893098873538997,
244
+ "rgb_loss": 0.032168976962566376,
245
+ "seg_loss": 0.033779341727495193,
246
+ "total": 0.06595091172523922,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0025893098873538997,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002080073776242789
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 185,
281
+ "adam_update_count": 29415
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.33157672081142664
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d946bc9eb28a4bdda48e95ebd4a9ade5_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 186,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29416,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 185,
300
+ "trained_intervals": 29415,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29415,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.2143771648406982,
333
+ "median": 6.693406581878662,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.03988366946578026,
347
+ "median": 0.03988366946578026,
348
+ "max": 0.03988366946578026,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.521631121635437,
354
+ "median": 5.075631141662598,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.10922151803970337,
361
+ "median": 807.06689453125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.5796895027160645,
382
+ "median": 160.0736083984375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.03988366946578026,
410
+ "median": 0.03988366946578026,
411
+ "max": 0.03988366946578026,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10166,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0186.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0186",
5
+ "executed_epochs": 186,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b5198cabd0224fee812dc627fd2331c5.npz",
37
+ "optimizer_file": "boundary_b5198cabd0224fee812dc627fd2331c5_optimizer.pt",
38
+ "arrays_sha256": "3ea748379e8051b2263845b7241a8ebf3ed031f918359ff41531915fa734193a",
39
+ "optimizer_sha256": "3aaf54f676c024294246d03afe16926645e494ed3cc11487599f006204c1e718",
40
+ "stage": "adam",
41
+ "completed_passes": 186,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29574,
45
+ "adam_update_count": 29574,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 187,
49
+ "consumed_count": 186,
50
+ "last_submitted_update": 29574,
51
+ "last_consumed_update": 29415,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29574,
56
+ "completed_passes": 186,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29574,
59
+ "snapshot": "pass_end_0186",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 186,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29574,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29574,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00024190267140511423,
83
+ "update_l2": 0.20028629899024963
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0018218324985355139,
91
+ "update_l2": 0.00039749592542648315
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.393295992282219e-05,
95
+ "update_l2": 0.009831617586314678
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08392092738467585,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10229,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07957683503627777,
117
+ "ground_restitution/effective": 0.07957683503627777,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08392092738467585,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026486538350582123,
129
+ "ssim_fused": 0.9002972841262817,
130
+ "seg_l1": 0.02855635993182659,
131
+ "seg_ssim_ref": 0.9002957344055176,
132
+ "depth": 0.005204828263644885,
133
+ "rgb_loss": 0.04112977534532547,
134
+ "seg_loss": 0.042785946279764175,
135
+ "total": 0.08392092738467585
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03461715579032898,
141
+ "ssim_fused": 0.8887149095535278,
142
+ "seg_l1": 0.030155586078763008,
143
+ "seg_ssim_ref": 0.8887140154838562,
144
+ "depth": 0.008570804344574119,
145
+ "rgb_loss": 0.0499507412314415,
146
+ "seg_loss": 0.046381667256355286,
147
+ "total": 0.09634097929214136,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008570804344574119,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005718826262976897
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.034521568566560745,
174
+ "ssim_fused": 0.8739520311355591,
175
+ "seg_l1": 0.04543571546673775,
176
+ "seg_ssim_ref": 0.8739500045776367,
177
+ "depth": 0.005571837381835406,
178
+ "rgb_loss": 0.05282685160636902,
179
+ "seg_loss": 0.06155857443809509,
180
+ "total": 0.11439099788184595,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005571837381835406,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004128317416557628
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018773186951875687,
207
+ "ssim_fused": 0.9220383167266846,
208
+ "seg_l1": 0.019307387992739677,
209
+ "seg_ssim_ref": 0.9220366477966309,
210
+ "depth": 0.004255997137493816,
211
+ "rgb_loss": 0.030610885471105576,
212
+ "seg_loss": 0.03103858232498169,
213
+ "total": 0.06165372379322476,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004255997137493816,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003914595227771594
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018034247681498528,
240
+ "ssim_fused": 0.9164838194847107,
241
+ "seg_l1": 0.019326748326420784,
242
+ "seg_ssim_ref": 0.9164822101593018,
243
+ "depth": 0.002420674190676202,
244
+ "rgb_loss": 0.031130634248256683,
245
+ "seg_loss": 0.032164957374334335,
246
+ "total": 0.0632980085714914,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002420674190676202,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0019114380795650907
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 186,
281
+ "adam_update_count": 29574
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32604875788092613
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b5198cabd0224fee812dc627fd2331c5_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 187,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29575,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 186,
300
+ "trained_intervals": 29574,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29574,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.22269344329834,
333
+ "median": 6.685382843017578,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07917933911085129,
347
+ "median": 0.07917933911085129,
348
+ "max": 0.07917933911085129,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5188578367233276,
354
+ "median": 5.069395065307617,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.10831697285175323,
361
+ "median": 800.6173095703125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.5670061111450195,
382
+ "median": 159.10061645507812,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07917933911085129,
410
+ "median": 0.07917933911085129,
411
+ "max": 0.07917933911085129,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10229,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0187.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0187",
5
+ "executed_epochs": 187,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_560a228ba7e949e78aa0c7ab42e96fa8.npz",
37
+ "optimizer_file": "boundary_560a228ba7e949e78aa0c7ab42e96fa8_optimizer.pt",
38
+ "arrays_sha256": "c5730a0eb038c89deb55a06b33a5d8333e70dd67edf87267c39502377f120f83",
39
+ "optimizer_sha256": "c48bd5acafbfa79d811a2d8c0a145e9b334d1b9adbd4dd820d458746de3b1d05",
40
+ "stage": "adam",
41
+ "completed_passes": 187,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29733,
45
+ "adam_update_count": 29733,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 188,
49
+ "consumed_count": 187,
50
+ "last_submitted_update": 29733,
51
+ "last_consumed_update": 29574,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29733,
56
+ "completed_passes": 187,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29733,
59
+ "snapshot": "pass_end_0187",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 187,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29733,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29733,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005075552617199719,
83
+ "update_l2": 0.20284099876880646
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.00102238729596138,
91
+ "update_l2": 0.00027382373809814453
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.293577174190432e-05,
95
+ "update_l2": 0.008048269897699356
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08902400426104914,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10294,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07514860481023788,
117
+ "ground_restitution/effective": 0.07514860481023788,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08902400426104914,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028148788958787918,
129
+ "ssim_fused": 0.8967810869216919,
130
+ "seg_l1": 0.031514331698417664,
131
+ "seg_ssim_ref": 0.8967796564102173,
132
+ "depth": 0.005657519253593249,
133
+ "rgb_loss": 0.04316280037164688,
134
+ "seg_loss": 0.04585554078221321,
135
+ "total": 0.08902400426104914
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.0352049246430397,
141
+ "ssim_fused": 0.8856452703475952,
142
+ "seg_l1": 0.031880736351013184,
143
+ "seg_ssim_ref": 0.8856441974639893,
144
+ "depth": 0.008599887627627856,
145
+ "rgb_loss": 0.05103488638997078,
146
+ "seg_loss": 0.048375748097896576,
147
+ "total": 0.09941923810078528,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008599887627627856,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005747909546030634
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03742486983537674,
174
+ "ssim_fused": 0.8690559267997742,
175
+ "seg_l1": 0.04978561028838158,
176
+ "seg_ssim_ref": 0.8690540194511414,
177
+ "depth": 0.006268233830370785,
178
+ "rgb_loss": 0.05612871050834656,
179
+ "seg_loss": 0.06601768732070923,
180
+ "total": 0.12215266606288616,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006268233830370785,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004824713865093007
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.020504476502537727,
207
+ "ssim_fused": 0.9185682535171509,
208
+ "seg_l1": 0.022461257874965668,
209
+ "seg_ssim_ref": 0.9185667037963867,
210
+ "depth": 0.004894185977425271,
211
+ "rgb_loss": 0.03268992900848389,
212
+ "seg_loss": 0.03425566852092743,
213
+ "total": 0.06695049171538874,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004894185977425271,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004552784067703048
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019460884854197502,
240
+ "ssim_fused": 0.9138551354408264,
241
+ "seg_l1": 0.021929720416665077,
242
+ "seg_ssim_ref": 0.9138535261154175,
243
+ "depth": 0.0028677695789490827,
244
+ "rgb_loss": 0.0327976830303669,
245
+ "seg_loss": 0.034773070365190506,
246
+ "total": 0.06757362116513635,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0028677695789490827,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0023585334678379714
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 187,
281
+ "adam_update_count": 29733
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3336182711645961
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_560a228ba7e949e78aa0c7ab42e96fa8_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 188,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29734,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 187,
300
+ "trained_intervals": 29733,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29733,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.2371885776519775,
333
+ "median": 6.6773600578308105,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07487478107213974,
347
+ "median": 0.07487478107213974,
348
+ "max": 0.07487478107213974,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5338444709777832,
354
+ "median": 5.068442344665527,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1067582219839096,
361
+ "median": 794.2196044921875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.635965347290039,
382
+ "median": 158.96682739257812,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07487478107213974,
410
+ "median": 0.07487478107213974,
411
+ "max": 0.07487478107213974,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10294,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0188.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0188",
5
+ "executed_epochs": 188,
6
+ "score": null,
7
+ "best_score": 0.06718245368776884,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_26f8a8b5d88742d3a901856c7981fc27.npz",
37
+ "optimizer_file": "boundary_26f8a8b5d88742d3a901856c7981fc27_optimizer.pt",
38
+ "arrays_sha256": "280c484bd1e841848cab7059aeb052d129675f87ee65d82d37ad54933f4cb86a",
39
+ "optimizer_sha256": "817d5de647116258396b4bd4f76432d9dafc57184794aa26d8fb2a3888eeb6a9",
40
+ "stage": "adam",
41
+ "completed_passes": 188,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 29892,
45
+ "adam_update_count": 29892,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 189,
49
+ "consumed_count": 188,
50
+ "last_submitted_update": 29892,
51
+ "last_consumed_update": 29733,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 29892,
56
+ "completed_passes": 188,
57
+ "next_interval": 0,
58
+ "trained_intervals": 29892,
59
+ "snapshot": "pass_end_0188",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 21942,
67
+ "pass_science": {
68
+ "completed_passes": 188,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 29892,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 29892,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005123567534610629,
83
+ "update_l2": 0.26380518078804016
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0016424123896285892,
91
+ "update_l2": 0.0006132721900939941
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 6.553185085067526e-05,
95
+ "update_l2": 0.014725632965564728
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.10312666242672454,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10351,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.06730031222105026,
117
+ "ground_restitution/effective": 0.06730031222105026,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.10312666242672454,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03331148624420166,
129
+ "ssim_fused": 0.8886532783508301,
130
+ "seg_l1": 0.039913058280944824,
131
+ "seg_ssim_ref": 0.8886517286300659,
132
+ "depth": 0.008024850025283295,
133
+ "rgb_loss": 0.04891854524612427,
134
+ "seg_loss": 0.05420009419322014,
135
+ "total": 0.10312666242672454
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03981175273656845,
141
+ "ssim_fused": 0.8793845772743225,
142
+ "seg_l1": 0.03825001418590546,
143
+ "seg_ssim_ref": 0.8793835043907166,
144
+ "depth": 0.010738117340732132,
145
+ "rgb_loss": 0.05597248673439026,
146
+ "seg_loss": 0.054723311215639114,
147
+ "total": 0.1107065323420798,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010738117340732132,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.007886139259134912
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.044735755771398544,
174
+ "ssim_fused": 0.8582349419593811,
175
+ "seg_l1": 0.06206817179918289,
176
+ "seg_ssim_ref": 0.8582331538200378,
177
+ "depth": 0.009543517570557176,
178
+ "rgb_loss": 0.06414161622524261,
179
+ "seg_loss": 0.07800790667533875,
180
+ "total": 0.14215906641815193,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.009543517570557176,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.008099997605279399
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02487584389746189,
207
+ "ssim_fused": 0.9112299084663391,
208
+ "seg_l1": 0.030091261491179466,
209
+ "seg_ssim_ref": 0.911228358745575,
210
+ "depth": 0.00718365424407077,
211
+ "rgb_loss": 0.03765469416975975,
212
+ "seg_loss": 0.04182733967900276,
213
+ "total": 0.07948921750300658,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00718365424407077,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.006842252334348547
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.023822592571377754,
240
+ "ssim_fused": 0.9057635068893433,
241
+ "seg_l1": 0.029242783784866333,
242
+ "seg_ssim_ref": 0.9057620167732239,
243
+ "depth": 0.004634110945773104,
244
+ "rgb_loss": 0.03790537267923355,
245
+ "seg_loss": 0.04224182665348053,
246
+ "total": 0.08015183344365985,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.004634110945773104,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.004124874834661992
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 188,
281
+ "adam_update_count": 29892
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3325621369294822
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_26f8a8b5d88742d3a901856c7981fc27_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 189,
293
+ "next_interval": 0,
294
+ "next_adam_update": 29893,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 188,
300
+ "trained_intervals": 29892,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 29892,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.245418071746826,
333
+ "median": 6.668112754821777,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.06668704003095627,
347
+ "median": 0.06668704003095627,
348
+ "max": 0.06668704003095627,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5439084768295288,
354
+ "median": 5.0800065994262695,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.10588326305150986,
361
+ "median": 786.9090576171875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.682857513427734,
382
+ "median": 160.7799072265625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.06668704003095627,
410
+ "median": 0.06668704003095627,
411
+ "max": 0.06668704003095627,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10351,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0189.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0189",
5
+ "executed_epochs": 189,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_5317f5aefa954ce6a099bf6c9bf20605.npz",
37
+ "optimizer_file": "boundary_5317f5aefa954ce6a099bf6c9bf20605_optimizer.pt",
38
+ "arrays_sha256": "099165b172a2bb449d3615b39489016414ec004e7f08d27810613f2026064d7a",
39
+ "optimizer_sha256": "bb266c2309a0b62a05c029a23cbc8fe383ed07e2103ee94bf5bd3127a53e7bb8",
40
+ "stage": "adam",
41
+ "completed_passes": 189,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30051,
45
+ "adam_update_count": 30051,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 190,
49
+ "consumed_count": 189,
50
+ "last_submitted_update": 30051,
51
+ "last_consumed_update": 29892,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30051,
56
+ "completed_passes": 189,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30051,
59
+ "snapshot": "pass_end_0189",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 189,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30051,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30051,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0004202574782539159,
83
+ "update_l2": 0.18769967555999756
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.001426134491339326,
91
+ "update_l2": 0.0004501417279243469
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.768987153307535e-05,
95
+ "update_l2": 0.008495111018419266
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09344771831208679,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10415,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07239721715450287,
117
+ "ground_restitution/effective": 0.07239721715450287,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09344771831208679,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02976108528673649,
129
+ "ssim_fused": 0.894458532333374,
130
+ "seg_l1": 0.03426932543516159,
131
+ "seg_ssim_ref": 0.8944570422172546,
132
+ "depth": 0.0065038996359816845,
133
+ "rgb_loss": 0.04491716995835304,
134
+ "seg_loss": 0.048524048179388046,
135
+ "total": 0.09344771831208679
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03717191517353058,
141
+ "ssim_fused": 0.8832378387451172,
142
+ "seg_l1": 0.034733422100543976,
143
+ "seg_ssim_ref": 0.8832367658615112,
144
+ "depth": 0.009616601933033025,
145
+ "rgb_loss": 0.053089965134859085,
146
+ "seg_loss": 0.051139384508132935,
147
+ "total": 0.10423896251963476,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009616601933033025,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006764623851435802
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.0395030751824379,
174
+ "ssim_fused": 0.8656150698661804,
175
+ "seg_l1": 0.053728897124528885,
176
+ "seg_ssim_ref": 0.8656132221221924,
177
+ "depth": 0.007473289950985669,
178
+ "rgb_loss": 0.05847944691777229,
179
+ "seg_loss": 0.06986047327518463,
180
+ "total": 0.1283473897576176,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.007473289950985669,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.006029769985707891
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.021837301552295685,
207
+ "ssim_fused": 0.9171167612075806,
208
+ "seg_l1": 0.02486252598464489,
209
+ "seg_ssim_ref": 0.917115330696106,
210
+ "depth": 0.005688676680521781,
211
+ "rgb_loss": 0.034046489745378494,
212
+ "seg_loss": 0.03646695613861084,
213
+ "total": 0.07051913083537956,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005688676680521781,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.005347274770799558
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.020532051101326942,
240
+ "ssim_fused": 0.9118643403053284,
241
+ "seg_l1": 0.023752449080348015,
242
+ "seg_ssim_ref": 0.9118629097938538,
243
+ "depth": 0.0032370299793862633,
244
+ "rgb_loss": 0.034052774310112,
245
+ "seg_loss": 0.03662937879562378,
246
+ "total": 0.07068539013571516,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0032370299793862633,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002727793868275152
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 189,
281
+ "adam_update_count": 30051
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32691867323592305
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_5317f5aefa954ce6a099bf6c9bf20605_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 190,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30052,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 189,
300
+ "trained_intervals": 30051,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30051,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.255458116531372,
333
+ "median": 6.66111421585083,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07194707542657852,
347
+ "median": 0.07194707542657852,
348
+ "max": 0.07194707542657852,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4963724613189697,
354
+ "median": 5.0560712814331055,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.10482550412416458,
361
+ "median": 781.421142578125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.465460777282715,
382
+ "median": 156.973876953125,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07194707542657852,
410
+ "median": 0.07194707542657852,
411
+ "max": 0.07194707542657852,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10415,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0190.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0190",
5
+ "executed_epochs": 190,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_1e38adad2be849cfb65170624b038e20.npz",
37
+ "optimizer_file": "boundary_1e38adad2be849cfb65170624b038e20_optimizer.pt",
38
+ "arrays_sha256": "c04bd70079415850e28068647af92619967f3be74444498c1b8a63649ecb718f",
39
+ "optimizer_sha256": "c2a51905f9c4c54285483e6a4635cc394818076c16fd115ff61642ffca1e972a",
40
+ "stage": "adam",
41
+ "completed_passes": 190,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30210,
45
+ "adam_update_count": 30210,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 191,
49
+ "consumed_count": 190,
50
+ "last_submitted_update": 30210,
51
+ "last_consumed_update": 30051,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30210,
56
+ "completed_passes": 190,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30210,
59
+ "snapshot": "pass_end_0190",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 190,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30210,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30210,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0004172074841335416,
83
+ "update_l2": 0.20868316292762756
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0011794444872066379,
91
+ "update_l2": 0.0004955753684043884
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.49130062002223e-05,
95
+ "update_l2": 0.005771371070295572
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09084244052302982,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10479,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.06489460170269012,
117
+ "ground_restitution/effective": 0.06489460170269012,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09084244052302982,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028831765055656433,
129
+ "ssim_fused": 0.8956702947616577,
130
+ "seg_l1": 0.03254866227507591,
131
+ "seg_ssim_ref": 0.8956687450408936,
132
+ "depth": 0.005908109070324313,
133
+ "rgb_loss": 0.04393135756254196,
134
+ "seg_loss": 0.04690517857670784,
135
+ "total": 0.09084244052302982
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03565901145339012,
141
+ "ssim_fused": 0.8853695392608643,
142
+ "seg_l1": 0.032347794622182846,
143
+ "seg_ssim_ref": 0.8853685855865479,
144
+ "depth": 0.008677901797734667,
145
+ "rgb_loss": 0.051453299820423126,
146
+ "seg_loss": 0.048804521560668945,
147
+ "total": 0.1002664992828898,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008677901797734667,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005825923716137444
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.038103021681308746,
174
+ "ssim_fused": 0.867762565612793,
175
+ "seg_l1": 0.05082044005393982,
176
+ "seg_ssim_ref": 0.8677605986595154,
177
+ "depth": 0.006579179066269296,
178
+ "rgb_loss": 0.05692990496754646,
179
+ "seg_loss": 0.06710423529148102,
180
+ "total": 0.12404071571280345,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006579179066269296,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.005135659100991518
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.021170707419514656,
207
+ "ssim_fused": 0.9174834489822388,
208
+ "seg_l1": 0.02355005592107773,
209
+ "seg_ssim_ref": 0.9174818992614746,
210
+ "depth": 0.005263207332399518,
211
+ "rgb_loss": 0.03343987464904785,
212
+ "seg_loss": 0.03534366562962532,
213
+ "total": 0.06878879976071527,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005263207332399518,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0049218054226772955
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.020394328981637955,
240
+ "ssim_fused": 0.9120656251907349,
241
+ "seg_l1": 0.023476356640458107,
242
+ "seg_ssim_ref": 0.9120639562606812,
243
+ "depth": 0.0031121480848937707,
244
+ "rgb_loss": 0.03390233963727951,
245
+ "seg_loss": 0.036368295550346375,
246
+ "total": 0.07027374733571078,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0031121480848937707,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.00260291197378266
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 190,
281
+ "adam_update_count": 30210
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3292592433281243
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_1e38adad2be849cfb65170624b038e20_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 191,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30211,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 190,
300
+ "trained_intervals": 30210,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30210,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.2783544063568115,
333
+ "median": 6.652813911437988,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.06439902633428574,
347
+ "median": 0.06439902633428574,
348
+ "max": 0.06439902633428574,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5227878093719482,
354
+ "median": 5.069978713989258,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.10245266556739807,
361
+ "median": 774.9617309570312,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.584989547729492,
382
+ "median": 159.17982482910156,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.06439902633428574,
410
+ "median": 0.06439902633428574,
411
+ "max": 0.06439902633428574,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10481,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0191.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0191",
5
+ "executed_epochs": 191,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_7cb62b437d8445479b6be05ce1f5e9d7.npz",
37
+ "optimizer_file": "boundary_7cb62b437d8445479b6be05ce1f5e9d7_optimizer.pt",
38
+ "arrays_sha256": "4586bf040509b68b553df6b165da03815eedbf73301a2de1b9cbc2a27b073112",
39
+ "optimizer_sha256": "4b1479dfd96a27896254e62d833a30b4949d2654a2c1c1c921654c749c2072c6",
40
+ "stage": "adam",
41
+ "completed_passes": 191,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30369,
45
+ "adam_update_count": 30369,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 192,
49
+ "consumed_count": 191,
50
+ "last_submitted_update": 30369,
51
+ "last_consumed_update": 30210,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30369,
56
+ "completed_passes": 191,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30369,
59
+ "snapshot": "pass_end_0191",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 191,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30369,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30369,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003881409647874534,
83
+ "update_l2": 0.21184097230434418
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0010113109601661563,
91
+ "update_l2": 0.0005000904202461243
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.325898276467342e-05,
95
+ "update_l2": 0.005967233330011368
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0880753877259767,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10542,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09576421976089478,
117
+ "ground_restitution/effective": 0.09576421976089478,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0880753877259767,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02828463912010193,
129
+ "ssim_fused": 0.8974026441574097,
130
+ "seg_l1": 0.030503373593091965,
131
+ "seg_ssim_ref": 0.8974010944366455,
132
+ "depth": 0.005725274232614384,
133
+ "rgb_loss": 0.04314717650413513,
134
+ "seg_loss": 0.04492248222231865,
135
+ "total": 0.0880753877259767
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03853372111916542,
141
+ "ssim_fused": 0.8809189796447754,
142
+ "seg_l1": 0.033033229410648346,
143
+ "seg_ssim_ref": 0.8809176683425903,
144
+ "depth": 0.009126181504531351,
145
+ "rgb_loss": 0.0546431802213192,
146
+ "seg_loss": 0.05024304986000061,
147
+ "total": 0.10489535998811464,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009126181504531351,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006274203422934128
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03633283078670502,
174
+ "ssim_fused": 0.8705824017524719,
175
+ "seg_l1": 0.048092521727085114,
176
+ "seg_ssim_ref": 0.8705803155899048,
177
+ "depth": 0.006247085636750175,
178
+ "rgb_loss": 0.05494978278875351,
179
+ "seg_loss": 0.06435795873403549,
180
+ "total": 0.11931398860842575,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006247085636750175,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004803565671472397
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01875763200223446,
207
+ "ssim_fused": 0.9231886267662048,
208
+ "seg_l1": 0.019090186804533005,
209
+ "seg_ssim_ref": 0.9231871962547302,
210
+ "depth": 0.004532856142294282,
211
+ "rgb_loss": 0.0303683802485466,
212
+ "seg_loss": 0.03063471056520939,
213
+ "total": 0.06100762180725314,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004532856142294282,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00419145423257206
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01951437257230282,
240
+ "ssim_fused": 0.9149206280708313,
241
+ "seg_l1": 0.021797548979520798,
242
+ "seg_ssim_ref": 0.9149191379547119,
243
+ "depth": 0.002994973646881731,
244
+ "rgb_loss": 0.032627373933792114,
245
+ "seg_loss": 0.034454211592674255,
246
+ "total": 0.06708458050011325,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002994973646881731,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.00248573753577062
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 191,
281
+ "adam_update_count": 30369
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3228338360786438
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_7cb62b437d8445479b6be05ce1f5e9d7_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 192,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30370,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 191,
300
+ "trained_intervals": 30369,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30369,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.3085193634033203,
333
+ "median": 6.650659561157227,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09526412934064865,
347
+ "median": 0.09526412934064865,
348
+ "max": 0.09526412934064865,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.5146111249923706,
354
+ "median": 5.0693488121032715,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.09940832853317261,
361
+ "median": 773.2940063476562,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.547652244567871,
382
+ "median": 159.09051513671875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09526412934064865,
410
+ "median": 0.09526412934064865,
411
+ "max": 0.09526412934064865,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10542,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0192.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0192",
5
+ "executed_epochs": 192,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_e9946f7063c04a50940ce628f244a7db.npz",
37
+ "optimizer_file": "boundary_e9946f7063c04a50940ce628f244a7db_optimizer.pt",
38
+ "arrays_sha256": "b7ecb619be7426105b7728603dac799a9730ba98245d7fbaca115587c56c4fcf",
39
+ "optimizer_sha256": "225f573eb83848136a7107c12ddba12f8507cb12240cbfd6915b823826774633",
40
+ "stage": "adam",
41
+ "completed_passes": 192,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30528,
45
+ "adam_update_count": 30528,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 193,
49
+ "consumed_count": 192,
50
+ "last_submitted_update": 30528,
51
+ "last_consumed_update": 30369,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30528,
56
+ "completed_passes": 192,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30528,
59
+ "snapshot": "pass_end_0192",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 192,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30528,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30528,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00032168489997275174,
83
+ "update_l2": 0.19400069117546082
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0013936685863882303,
91
+ "update_l2": 0.00036322325468063354
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.671777812996879e-05,
95
+ "update_l2": 0.006063953507691622
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08550295441869535,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10605,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10570728033781052,
117
+ "ground_restitution/effective": 0.10570728033781052,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08550295441869535,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027104632928967476,
129
+ "ssim_fused": 0.8988593220710754,
130
+ "seg_l1": 0.029196731746196747,
131
+ "seg_ssim_ref": 0.8988577127456665,
132
+ "depth": 0.005266847944644848,
133
+ "rgb_loss": 0.04191184043884277,
134
+ "seg_loss": 0.043585848063230515,
135
+ "total": 0.08550295441869535
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03714529424905777,
141
+ "ssim_fused": 0.8824604153633118,
142
+ "seg_l1": 0.0331241749227047,
143
+ "seg_ssim_ref": 0.882459282875061,
144
+ "depth": 0.008743084497494726,
145
+ "rgb_loss": 0.05322415381669998,
146
+ "seg_loss": 0.05000748485326767,
147
+ "total": 0.10324038175446515,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008743084497494726,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005891106415897505
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03557147830724716,
174
+ "ssim_fused": 0.8717822432518005,
175
+ "seg_l1": 0.047103434801101685,
176
+ "seg_ssim_ref": 0.8717800378799438,
177
+ "depth": 0.005928822550411181,
178
+ "rgb_loss": 0.05410073697566986,
179
+ "seg_loss": 0.06332674622535706,
180
+ "total": 0.11743341202357732,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005928822550411181,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004485302585133404
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018208488821983337,
207
+ "ssim_fused": 0.9233344197273254,
208
+ "seg_l1": 0.018235884606838226,
209
+ "seg_ssim_ref": 0.9233328700065613,
210
+ "depth": 0.004174632549999643,
211
+ "rgb_loss": 0.029899906367063522,
212
+ "seg_loss": 0.029922135174274445,
213
+ "total": 0.05982621617388797,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004174632549999643,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0038332306402774218
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017493270337581635,
240
+ "ssim_fused": 0.9178602695465088,
241
+ "seg_l1": 0.018323427066206932,
242
+ "seg_ssim_ref": 0.9178586006164551,
243
+ "depth": 0.0022208521806738437,
244
+ "rgb_loss": 0.03042256459593773,
245
+ "seg_loss": 0.03108702227473259,
246
+ "total": 0.06151180772285099,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0022208521806738437,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001711616069562733
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 192,
281
+ "adam_update_count": 30528
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3313557133078575
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_e9946f7063c04a50940ce628f244a7db_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 193,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30529,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 192,
300
+ "trained_intervals": 30528,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30528,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.3443822860717773,
333
+ "median": 6.645824432373047,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.10534405708312988,
347
+ "median": 0.10534405708312988,
348
+ "max": 0.10534405708312988,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4846975803375244,
354
+ "median": 5.041196823120117,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.09590642899274826,
361
+ "median": 769.564453125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.413630485534668,
382
+ "median": 154.6854248046875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.10534405708312988,
410
+ "median": 0.10534405708312988,
411
+ "max": 0.10534405708312988,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10605,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0193.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0193",
5
+ "executed_epochs": 193,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_ed50e830b1bd40599ce7dd401c02d74a.npz",
37
+ "optimizer_file": "boundary_ed50e830b1bd40599ce7dd401c02d74a_optimizer.pt",
38
+ "arrays_sha256": "4ed7b8b951c52c86003decce666ba5841f75fad96b0001498fb11f3e964694bc",
39
+ "optimizer_sha256": "c7b70d2746a4d4e2f0699a9887449cb7400342e2431ee479f3e4eeb2c66c7ea5",
40
+ "stage": "adam",
41
+ "completed_passes": 193,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30687,
45
+ "adam_update_count": 30687,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 194,
49
+ "consumed_count": 193,
50
+ "last_submitted_update": 30687,
51
+ "last_consumed_update": 30528,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30687,
56
+ "completed_passes": 193,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30687,
59
+ "snapshot": "pass_end_0193",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 193,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30687,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30687,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002174028049921617,
83
+ "update_l2": 0.2039637714624405
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.001803457853384316,
91
+ "update_l2": 0.0004703402519226074
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.87506354652578e-05,
95
+ "update_l2": 0.004176100250333548
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08636404137260416,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10680,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10476814210414886,
117
+ "ground_restitution/effective": 0.10476814210414886,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08636404137260416,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027588583528995514,
129
+ "ssim_fused": 0.8984023928642273,
130
+ "seg_l1": 0.029560547322034836,
131
+ "seg_ssim_ref": 0.8984007835388184,
132
+ "depth": 0.005357257492328063,
133
+ "rgb_loss": 0.04239039495587349,
134
+ "seg_loss": 0.04396829009056091,
135
+ "total": 0.08636404137260416
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.037937961518764496,
141
+ "ssim_fused": 0.881313681602478,
142
+ "seg_l1": 0.032805185765028,
143
+ "seg_ssim_ref": 0.8813121914863586,
144
+ "depth": 0.008757007480279232,
145
+ "rgb_loss": 0.05408763512969017,
146
+ "seg_loss": 0.04998171329498291,
147
+ "total": 0.10407810915744366,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008757007480279232,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00590502939868201
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03553216531872749,
174
+ "ssim_fused": 0.871738612651825,
175
+ "seg_l1": 0.04669784754514694,
176
+ "seg_ssim_ref": 0.8717365860939026,
177
+ "depth": 0.0057996905299591735,
178
+ "rgb_loss": 0.05407801270484924,
179
+ "seg_loss": 0.06301096081733704,
180
+ "total": 0.11709477321271623,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0057996905299591735,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004356170564681396
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017936527729034424,
207
+ "ssim_fused": 0.9248566031455994,
208
+ "seg_l1": 0.017758915200829506,
209
+ "seg_ssim_ref": 0.92485511302948,
210
+ "depth": 0.0041128814652551795,
211
+ "rgb_loss": 0.029377901926636696,
212
+ "seg_loss": 0.02923610992729664,
213
+ "total": 0.05861812473539859,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0041128814652551795,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0037714795555329568
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018947679549455643,
240
+ "ssim_fused": 0.9157006144523621,
241
+ "seg_l1": 0.02098025009036064,
242
+ "seg_ssim_ref": 0.9156991243362427,
243
+ "depth": 0.0027594504938186666,
244
+ "rgb_loss": 0.0320180207490921,
245
+ "seg_loss": 0.03364437818527222,
246
+ "total": 0.06566515838485813,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0027594504938186666,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002250214382707555
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 193,
281
+ "adam_update_count": 30687
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32491666497662663
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_ed50e830b1bd40599ce7dd401c02d74a_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 194,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30688,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 193,
300
+ "trained_intervals": 30687,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30687,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.366966485977173,
333
+ "median": 6.645842552185059,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.10429780185222626,
347
+ "median": 0.10429780185222626,
348
+ "max": 0.10429780185222626,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4692997932434082,
354
+ "median": 5.043979644775391,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.09376472979784012,
361
+ "median": 769.5780029296875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.346190929412842,
382
+ "median": 155.09378051757812,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.10429780185222626,
410
+ "median": 0.10429780185222626,
411
+ "max": 0.10429780185222626,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10680,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0194.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0194",
5
+ "executed_epochs": 194,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b934e11af38e4e05a5b5407790a36800.npz",
37
+ "optimizer_file": "boundary_b934e11af38e4e05a5b5407790a36800_optimizer.pt",
38
+ "arrays_sha256": "0d3d0b7dee74319ef8c3cf56da4bf09c2416509f8628656ea6b3696ea114612f",
39
+ "optimizer_sha256": "a937024cd29f289361c1098f8e40a30035badbc900c68b6bda3e4ff22da94b03",
40
+ "stage": "adam",
41
+ "completed_passes": 194,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 30846,
45
+ "adam_update_count": 30846,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 195,
49
+ "consumed_count": 194,
50
+ "last_submitted_update": 30846,
51
+ "last_consumed_update": 30687,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 30846,
56
+ "completed_passes": 194,
57
+ "next_interval": 0,
58
+ "trained_intervals": 30846,
59
+ "snapshot": "pass_end_0194",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 194,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 30846,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 30846,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00022892735432833433,
83
+ "update_l2": 0.21454796195030212
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0026843196246773005,
91
+ "update_l2": 0.00033414363861083984
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.7347470677341335e-05,
95
+ "update_l2": 0.009683557786047459
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07942504700258285,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10743,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08913375437259674,
117
+ "ground_restitution/effective": 0.08913375437259674,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07942504700258285,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.024887878447771072,
129
+ "ssim_fused": 0.9032135009765625,
130
+ "seg_l1": 0.025994451716542244,
131
+ "seg_ssim_ref": 0.9032119512557983,
132
+ "depth": 0.004267170875368401,
133
+ "rgb_loss": 0.039267607033252716,
134
+ "seg_loss": 0.040153175592422485,
135
+ "total": 0.07942504700258285
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03461878001689911,
141
+ "ssim_fused": 0.8870469927787781,
142
+ "seg_l1": 0.030246274545788765,
143
+ "seg_ssim_ref": 0.8870459794998169,
144
+ "depth": 0.00774609706514709,
145
+ "rgb_loss": 0.05028562620282173,
146
+ "seg_loss": 0.04678782448172569,
147
+ "total": 0.09708119678161257,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00774609706514709,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004894118983549868
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.031946588307619095,
174
+ "ssim_fused": 0.879139244556427,
175
+ "seg_l1": 0.04129714146256447,
176
+ "seg_ssim_ref": 0.8791371583938599,
177
+ "depth": 0.004392046652775414,
178
+ "rgb_loss": 0.049729421734809875,
179
+ "seg_loss": 0.0572102814912796,
180
+ "total": 0.10694409527274225,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004392046652775414,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002948526687497635
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.016224458813667297,
207
+ "ssim_fused": 0.9266324639320374,
208
+ "seg_l1": 0.01497493777424097,
209
+ "seg_ssim_ref": 0.9266310334205627,
210
+ "depth": 0.003055310390180804,
211
+ "rgb_loss": 0.027653075754642487,
212
+ "seg_loss": 0.026653744280338287,
213
+ "total": 0.054309875345370955,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003055310390180804,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0027139084804585823
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.016761694103479385,
240
+ "ssim_fused": 0.9200352430343628,
241
+ "seg_l1": 0.017459454014897346,
242
+ "seg_ssim_ref": 0.9200336337089539,
243
+ "depth": 0.0018752293933702942,
244
+ "rgb_loss": 0.02940230816602707,
245
+ "seg_loss": 0.029960837215185165,
246
+ "total": 0.059365020610605605,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018752293933702942,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001365993282259183
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 194,
281
+ "adam_update_count": 30846
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3255000598728657
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b934e11af38e4e05a5b5407790a36800_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 195,
293
+ "next_interval": 0,
294
+ "next_adam_update": 30847,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 194,
300
+ "trained_intervals": 30846,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 30846,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.401870012283325,
333
+ "median": 6.642816066741943,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0887996107339859,
347
+ "median": 0.0887996107339859,
348
+ "max": 0.0887996107339859,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.432173728942871,
354
+ "median": 5.029237747192383,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.09054847061634064,
361
+ "median": 767.2525634765625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.1877923011779785,
382
+ "median": 152.81942749023438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0887996107339859,
410
+ "median": 0.0887996107339859,
411
+ "max": 0.0887996107339859,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10744,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0195.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0195",
5
+ "executed_epochs": 195,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_4637345f37314c1f96c4267025a68e9c.npz",
37
+ "optimizer_file": "boundary_4637345f37314c1f96c4267025a68e9c_optimizer.pt",
38
+ "arrays_sha256": "033ef2e69346ce9c95eec4486177e92528a172f4469979ab8c8142d7103afec1",
39
+ "optimizer_sha256": "34bd8545ceb1eca58074450aeb9d55399af2886c1d142c9956a7deea1e288678",
40
+ "stage": "adam",
41
+ "completed_passes": 195,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31005,
45
+ "adam_update_count": 31005,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 196,
49
+ "consumed_count": 195,
50
+ "last_submitted_update": 31005,
51
+ "last_consumed_update": 30846,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31005,
56
+ "completed_passes": 195,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31005,
59
+ "snapshot": "pass_end_0195",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 195,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31005,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31005,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00023601623252034187,
83
+ "update_l2": 0.24743208289146423
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0031779122073203325,
91
+ "update_l2": 0.001290012151002884
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.896024281857535e-05,
95
+ "update_l2": 0.010363166220486164
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09086308247907891,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10802,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.03747912496328354,
117
+ "ground_restitution/effective": 0.03747912496328354,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09086308247907891,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.029175544157624245,
129
+ "ssim_fused": 0.8958612084388733,
130
+ "seg_l1": 0.032326631247997284,
131
+ "seg_ssim_ref": 0.8958595991134644,
132
+ "depth": 0.005511488158847658,
133
+ "rgb_loss": 0.044168196618556976,
134
+ "seg_loss": 0.04668937623500824,
135
+ "total": 0.09086308247907891
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03903065249323845,
141
+ "ssim_fused": 0.8809762001037598,
142
+ "seg_l1": 0.03626755252480507,
143
+ "seg_ssim_ref": 0.8809750080108643,
144
+ "depth": 0.008727084015927589,
145
+ "rgb_loss": 0.05502928048372269,
146
+ "seg_loss": 0.052819039672613144,
147
+ "total": 0.10785704351506147,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008727084015927589,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005875105934330366
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03987228125333786,
174
+ "ssim_fused": 0.8657295107841492,
175
+ "seg_l1": 0.05293036624789238,
176
+ "seg_ssim_ref": 0.8657275438308716,
177
+ "depth": 0.00659552187816214,
178
+ "rgb_loss": 0.058751922100782394,
179
+ "seg_loss": 0.06919878721237183,
180
+ "total": 0.12795730856032267,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.00659552187816214,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0051520019128843625
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01908046379685402,
207
+ "ssim_fused": 0.9209797382354736,
208
+ "seg_l1": 0.019569307565689087,
209
+ "seg_ssim_ref": 0.920978307723999,
210
+ "depth": 0.004198759510219097,
211
+ "rgb_loss": 0.03106842376291752,
212
+ "seg_loss": 0.031459785997867584,
213
+ "total": 0.06253240665765017,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004198759510219097,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0038573576004968745
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018718784675002098,
240
+ "ssim_fused": 0.9157593846321106,
241
+ "seg_l1": 0.0205392949283123,
242
+ "seg_ssim_ref": 0.9157577157020569,
243
+ "depth": 0.002524587231081807,
244
+ "rgb_loss": 0.03182315081357956,
245
+ "seg_loss": 0.0332798957824707,
246
+ "total": 0.06510557118328135,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002524587231081807,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0020153511199706956
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 195,
281
+ "adam_update_count": 31005
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.317062312271446
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_4637345f37314c1f96c4267025a68e9c_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 196,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31006,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 195,
300
+ "trained_intervals": 31005,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31005,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.4267115592956543,
333
+ "median": 6.641016960144043,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.036189112812280655,
347
+ "median": 0.036189112812280655,
348
+ "max": 0.036189112812280655,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4179445505142212,
354
+ "median": 5.013219833374023,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.08832681179046631,
361
+ "median": 765.8734130859375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.128625869750977,
382
+ "median": 150.3984375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.036189112812280655,
410
+ "median": 0.036189112812280655,
411
+ "max": 0.036189112812280655,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10803,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0196.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0196",
5
+ "executed_epochs": 196,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_bc3312ff49a4417087e02dc974adb2f1.npz",
37
+ "optimizer_file": "boundary_bc3312ff49a4417087e02dc974adb2f1_optimizer.pt",
38
+ "arrays_sha256": "29c603bf4817e41ad16841563df998e63c642ebfb72d1ee331e4a73cc0c51a73",
39
+ "optimizer_sha256": "cce54bacece069a6182b2041ef6396a43d52108ccb217fbfcbfb918c3c8fefba",
40
+ "stage": "adam",
41
+ "completed_passes": 196,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31164,
45
+ "adam_update_count": 31164,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 197,
49
+ "consumed_count": 196,
50
+ "last_submitted_update": 31164,
51
+ "last_consumed_update": 31005,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31164,
56
+ "completed_passes": 196,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31164,
59
+ "snapshot": "pass_end_0196",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 196,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31164,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31164,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002333850134164095,
83
+ "update_l2": 0.19431447982788086
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0021357412915676832,
91
+ "update_l2": 0.0003476664423942566
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.4695043470710516e-05,
95
+ "update_l2": 0.004884158261120319
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08999720562757359,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10874,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10388219356536865,
117
+ "ground_restitution/effective": 0.10388219356536865,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08999720562757359,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.029077934101223946,
129
+ "ssim_fused": 0.8963047862052917,
130
+ "seg_l1": 0.031562719494104385,
131
+ "seg_ssim_ref": 0.8963032364845276,
132
+ "depth": 0.006285240365121054,
133
+ "rgb_loss": 0.04400138929486275,
134
+ "seg_loss": 0.04598953574895859,
135
+ "total": 0.08999720562757359
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03898186609148979,
141
+ "ssim_fused": 0.880771279335022,
142
+ "seg_l1": 0.033220935612916946,
143
+ "seg_ssim_ref": 0.8807701468467712,
144
+ "depth": 0.009754370372504798,
145
+ "rgb_loss": 0.05503123998641968,
146
+ "seg_loss": 0.05042272061109543,
147
+ "total": 0.10546371496788762,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009754370372504798,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006902392290907574
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03813967481255531,
174
+ "ssim_fused": 0.8687192797660828,
175
+ "seg_l1": 0.050843745470047,
176
+ "seg_ssim_ref": 0.8687171936035156,
177
+ "depth": 0.0069989982797045045,
178
+ "rgb_loss": 0.05676788464188576,
179
+ "seg_loss": 0.06693156063556671,
180
+ "total": 0.12370644055044187,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0069989982797045045,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0055554783144267286
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.019193971529603004,
207
+ "ssim_fused": 0.9222320914268494,
208
+ "seg_l1": 0.01974467933177948,
209
+ "seg_ssim_ref": 0.9222305417060852,
210
+ "depth": 0.004902258721229672,
211
+ "rgb_loss": 0.03090875968337059,
212
+ "seg_loss": 0.03134963661432266,
213
+ "total": 0.062263298556414486,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004902258721229672,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004560856811507449
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019996223971247673,
240
+ "ssim_fused": 0.9134965538978577,
241
+ "seg_l1": 0.022441521286964417,
242
+ "seg_ssim_ref": 0.9134950041770935,
243
+ "depth": 0.0034853340870452426,
244
+ "rgb_loss": 0.033297669142484665,
245
+ "seg_loss": 0.03525421768426895,
246
+ "total": 0.06855536843555037,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0034853340870452426,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002976097975934131
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 196,
281
+ "adam_update_count": 31164
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3138344273902476
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_bc3312ff49a4417087e02dc974adb2f1_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 197,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31165,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 196,
300
+ "trained_intervals": 31164,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31164,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.446866273880005,
333
+ "median": 6.637529373168945,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.1035345271229744,
347
+ "median": 0.1035345271229744,
348
+ "max": 0.1035345271229744,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4733662605285645,
354
+ "median": 5.035263538360596,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.08656442910432816,
361
+ "median": 763.20703125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.363900661468506,
382
+ "median": 153.7401123046875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.1035345271229744,
410
+ "median": 0.1035345271229744,
411
+ "max": 0.1035345271229744,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10874,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0197.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0197",
5
+ "executed_epochs": 197,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_48cb8dcedbf34fe19217ebeb853ca971.npz",
37
+ "optimizer_file": "boundary_48cb8dcedbf34fe19217ebeb853ca971_optimizer.pt",
38
+ "arrays_sha256": "769f2febecf638e7359ffb87d496b8639a6c1d99f7082f634e6d6f83ea1a7c02",
39
+ "optimizer_sha256": "8379ce8ffa879419320715271ad5241774e2ddc2c3f79f3228de2f756a911b16",
40
+ "stage": "adam",
41
+ "completed_passes": 197,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31323,
45
+ "adam_update_count": 31323,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 198,
49
+ "consumed_count": 197,
50
+ "last_submitted_update": 31323,
51
+ "last_consumed_update": 31164,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31323,
56
+ "completed_passes": 197,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31323,
59
+ "snapshot": "pass_end_0197",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 197,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31323,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31323,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005404893890954554,
83
+ "update_l2": 0.21670196950435638
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0006863066228106618,
91
+ "update_l2": 0.0002584978938102722
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8039130736724474e-05,
95
+ "update_l2": 0.010824398137629032
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08551868460191867,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10909,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.059775639325380325,
117
+ "ground_restitution/effective": 0.059775639325380325,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08551868460191867,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02695765346288681,
129
+ "ssim_fused": 0.8985282182693481,
130
+ "seg_l1": 0.02919836714863777,
131
+ "seg_ssim_ref": 0.8985266089439392,
132
+ "depth": 0.004820889369446311,
133
+ "rgb_loss": 0.04186047986149788,
134
+ "seg_loss": 0.04365338012576103,
135
+ "total": 0.08551868460191867
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03477458655834198,
141
+ "ssim_fused": 0.8861792087554932,
142
+ "seg_l1": 0.03076377511024475,
143
+ "seg_ssim_ref": 0.8861780166625977,
144
+ "depth": 0.007746127825815412,
145
+ "rgb_loss": 0.05058382824063301,
146
+ "seg_loss": 0.04737541824579239,
147
+ "total": 0.09796699633954152,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007746127825815412,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00489414974421819
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03525926545262337,
174
+ "ssim_fused": 0.8733590245246887,
175
+ "seg_l1": 0.04542025178670883,
176
+ "seg_ssim_ref": 0.8733569979667664,
177
+ "depth": 0.005033367687831115,
178
+ "rgb_loss": 0.05353560671210289,
179
+ "seg_loss": 0.06166480481624603,
180
+ "total": 0.11520544862132705,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005033367687831115,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0035898477225533377
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.019053971394896507,
207
+ "ssim_fused": 0.9204888343811035,
208
+ "seg_l1": 0.020479435101151466,
209
+ "seg_ssim_ref": 0.920487105846405,
210
+ "depth": 0.00405803072360991,
211
+ "rgb_loss": 0.031145412474870682,
212
+ "seg_loss": 0.032286129891872406,
213
+ "total": 0.06343560412275699,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00405803072360991,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003716628813887687
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018742794170975685,
240
+ "ssim_fused": 0.9140858054161072,
241
+ "seg_l1": 0.020130010321736336,
242
+ "seg_ssim_ref": 0.9140841960906982,
243
+ "depth": 0.0024460312405288113,
244
+ "rgb_loss": 0.03217707574367523,
245
+ "seg_loss": 0.0332871675491333,
246
+ "total": 0.06546668932404906,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0024460312405288113,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0019367951294177004
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 197,
281
+ "adam_update_count": 31323
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.310175864957273
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_48cb8dcedbf34fe19217ebeb853ca971_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 198,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31324,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 197,
300
+ "trained_intervals": 31323,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31323,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.47704815864563,
333
+ "median": 6.630295753479004,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0600341372191906,
347
+ "median": 0.0600341372191906,
348
+ "max": 0.0600341372191906,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4403468370437622,
354
+ "median": 5.028122901916504,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.08399078249931335,
361
+ "median": 757.7062377929688,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.222160339355469,
382
+ "median": 152.6473388671875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0600341372191906,
410
+ "median": 0.0600341372191906,
411
+ "max": 0.0600341372191906,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10909,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0198.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0198",
5
+ "executed_epochs": 198,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_1ddb0a9ba944452c8f7fe80097cd7b75.npz",
37
+ "optimizer_file": "boundary_1ddb0a9ba944452c8f7fe80097cd7b75_optimizer.pt",
38
+ "arrays_sha256": "c28aef99b4fbea82caa0c430386e10d8f41f1cec3485dabb0e6d014a384e0784",
39
+ "optimizer_sha256": "1a1fe3c027f072271fa41a1369ba0b48e37d27a24f4272a161e35b31b131362f",
40
+ "stage": "adam",
41
+ "completed_passes": 198,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31482,
45
+ "adam_update_count": 31482,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 199,
49
+ "consumed_count": 198,
50
+ "last_submitted_update": 31482,
51
+ "last_consumed_update": 31323,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31482,
56
+ "completed_passes": 198,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31482,
59
+ "snapshot": "pass_end_0198",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 198,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31482,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31482,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005869708838872612,
83
+ "update_l2": 0.20338067412376404
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0013434962602332234,
91
+ "update_l2": 0.0002111680805683136
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.5318102163728327e-05,
95
+ "update_l2": 0.00612162658944726
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08904982738954509,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 10959,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.060131024569272995,
117
+ "ground_restitution/effective": 0.060131024569272995,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08904982738954509,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028088316321372986,
129
+ "ssim_fused": 0.896762490272522,
130
+ "seg_l1": 0.03159762918949127,
131
+ "seg_ssim_ref": 0.8967609405517578,
132
+ "depth": 0.005755655593515419,
133
+ "rgb_loss": 0.043118156492710114,
134
+ "seg_loss": 0.045925918966531754,
135
+ "total": 0.08904982738954509
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03464430570602417,
141
+ "ssim_fused": 0.885150671005249,
142
+ "seg_l1": 0.03124394454061985,
143
+ "seg_ssim_ref": 0.8851495385169983,
144
+ "depth": 0.008680307242001743,
145
+ "rgb_loss": 0.05068530887365341,
146
+ "seg_loss": 0.04796525090932846,
147
+ "total": 0.09865924009022388,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008680307242001743,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005828329160404521
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03750430792570114,
174
+ "ssim_fused": 0.8691822290420532,
175
+ "seg_l1": 0.04979605972766876,
176
+ "seg_ssim_ref": 0.8691802024841309,
177
+ "depth": 0.0063427738889270556,
178
+ "rgb_loss": 0.05616699904203415,
179
+ "seg_loss": 0.0660008117556572,
180
+ "total": 0.12217415357158028,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0063427738889270556,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004899253923649278
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02068188041448593,
207
+ "ssim_fused": 0.9182499647140503,
208
+ "seg_l1": 0.023163380101323128,
209
+ "seg_ssim_ref": 0.9182485342025757,
210
+ "depth": 0.005018902319593406,
211
+ "rgb_loss": 0.032895512878894806,
212
+ "seg_loss": 0.034880995750427246,
213
+ "total": 0.06778152753164164,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005018902319593406,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004677500409871184
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019522774964571,
240
+ "ssim_fused": 0.9144671559333801,
241
+ "seg_l1": 0.022187141701579094,
242
+ "seg_ssim_ref": 0.9144654870033264,
243
+ "depth": 0.0029806389235394696,
244
+ "rgb_loss": 0.03272479027509689,
245
+ "seg_loss": 0.03485661745071411,
246
+ "total": 0.06758438836473454,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0029806389235394696,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0024714028124283587
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 198,
281
+ "adam_update_count": 31482
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3263747338205576
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_1ddb0a9ba944452c8f7fe80097cd7b75_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 199,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31483,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 198,
300
+ "trained_intervals": 31482,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31482,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.487013816833496,
333
+ "median": 6.6241302490234375,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.05991985648870468,
347
+ "median": 0.05991985648870468,
348
+ "max": 0.05991985648870468,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4436893463134766,
354
+ "median": 5.029448509216309,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.08315791934728622,
361
+ "median": 753.0489501953125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.2362961769104,
382
+ "median": 152.8497772216797,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.05991985648870468,
410
+ "median": 0.05991985648870468,
411
+ "max": 0.05991985648870468,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 10959,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0199.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0199",
5
+ "executed_epochs": 199,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_e23dabdc356e4f4aa69094752efe146f.npz",
37
+ "optimizer_file": "boundary_e23dabdc356e4f4aa69094752efe146f_optimizer.pt",
38
+ "arrays_sha256": "9740593ec7c2d7cce8c27b5bb7c7a40712d870fab80bc97585a8bb0934c95d44",
39
+ "optimizer_sha256": "66e12befda6201810c16e4811cf0f56995cfb33016ea57458d172d3c16c388f6",
40
+ "stage": "adam",
41
+ "completed_passes": 199,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31641,
45
+ "adam_update_count": 31641,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 200,
49
+ "consumed_count": 199,
50
+ "last_submitted_update": 31641,
51
+ "last_consumed_update": 31482,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31641,
56
+ "completed_passes": 199,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31641,
59
+ "snapshot": "pass_end_0199",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 199,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31641,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31641,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002527197066228837,
83
+ "update_l2": 0.21327824890613556
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0028988104313611984,
91
+ "update_l2": 0.0007149726152420044
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.0526716475142166e-05,
95
+ "update_l2": 0.00833657756447792
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0954541507175001,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11008,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07973085343837738,
117
+ "ground_restitution/effective": 0.07973085343837738,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0954541507175001,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03114314004778862,
129
+ "ssim_fused": 0.8932762145996094,
130
+ "seg_l1": 0.03480378910899162,
131
+ "seg_ssim_ref": 0.89327472448349,
132
+ "depth": 0.006802286747358254,
133
+ "rgb_loss": 0.046259261667728424,
134
+ "seg_loss": 0.04918808490037918,
135
+ "total": 0.0954541507175001
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.04183679819107056,
141
+ "ssim_fused": 0.8773003220558167,
142
+ "seg_l1": 0.03737888112664223,
143
+ "seg_ssim_ref": 0.8772990703582764,
144
+ "depth": 0.010159754249210753,
145
+ "rgb_loss": 0.058009374886751175,
146
+ "seg_loss": 0.05444329231977463,
147
+ "total": 0.11246283068606532,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010159754249210753,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.007307776167613532
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.04097341001033783,
174
+ "ssim_fused": 0.8649240732192993,
175
+ "seg_l1": 0.05503160506486893,
176
+ "seg_ssim_ref": 0.864922046661377,
177
+ "depth": 0.007734212713009264,
178
+ "rgb_loss": 0.05979391187429428,
179
+ "seg_loss": 0.07104087620973587,
180
+ "total": 0.13084252229674317,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.007734212713009264,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.006290692747731487
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.020192710682749748,
207
+ "ssim_fused": 0.9205325841903687,
208
+ "seg_l1": 0.0215280894190073,
209
+ "seg_ssim_ref": 0.9205312132835388,
210
+ "depth": 0.005380475399081802,
211
+ "rgb_loss": 0.03204765170812607,
212
+ "seg_loss": 0.03311622887849808,
213
+ "total": 0.06516926106202323,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005380475399081802,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00503907348935958
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.021569643169641495,
240
+ "ssim_fused": 0.9103480577468872,
241
+ "seg_l1": 0.025276580825448036,
242
+ "seg_ssim_ref": 0.9103465676307678,
243
+ "depth": 0.003934704628131197,
244
+ "rgb_loss": 0.035186104476451874,
245
+ "seg_loss": 0.038151949644088745,
246
+ "total": 0.07334198882516875,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003934704628131197,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0034254685170200853
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 199,
281
+ "adam_update_count": 31641
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3199152201414108
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_e23dabdc356e4f4aa69094752efe146f_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 200,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31642,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 199,
300
+ "trained_intervals": 31641,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31641,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.5295891761779785,
333
+ "median": 6.624622344970703,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07901588082313538,
347
+ "median": 0.07901588082313538,
348
+ "max": 0.07901588082313538,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4902355670928955,
354
+ "median": 5.042335033416748,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.07969175279140472,
361
+ "median": 753.419677734375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.438140869140625,
382
+ "median": 154.83114624023438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07901588082313538,
410
+ "median": 0.07901588082313538,
411
+ "max": 0.07901588082313538,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11009,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0200.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0200",
5
+ "executed_epochs": 200,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_a2bdbd4c36784c0595fb009e237df794.npz",
37
+ "optimizer_file": "boundary_a2bdbd4c36784c0595fb009e237df794_optimizer.pt",
38
+ "arrays_sha256": "836e353020c5a172ba7c973e1a21f8e7fe4f79fc7cce5ddc8eebdae42b30cdfc",
39
+ "optimizer_sha256": "66082ef7f260b2578cc33ba0b510c8a4dee9295a498d2063e51066c458021447",
40
+ "stage": "adam",
41
+ "completed_passes": 200,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31800,
45
+ "adam_update_count": 31800,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 201,
49
+ "consumed_count": 200,
50
+ "last_submitted_update": 31800,
51
+ "last_consumed_update": 31641,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31800,
56
+ "completed_passes": 200,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31800,
59
+ "snapshot": "pass_end_0200",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 200,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31800,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31800,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00026280508609488606,
83
+ "update_l2": 0.22182053327560425
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0024758654180914164,
91
+ "update_l2": 0.0008008256554603577
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 5.419616718427278e-05,
95
+ "update_l2": 0.008389978669583797
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.10082382734141915,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11066,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08243876695632935,
117
+ "ground_restitution/effective": 0.08243876695632935,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.10082382734141915,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03323924541473389,
129
+ "ssim_fused": 0.8900927305221558,
130
+ "seg_l1": 0.03782740607857704,
131
+ "seg_ssim_ref": 0.8900911808013916,
132
+ "depth": 0.007288784008912303,
133
+ "rgb_loss": 0.048572856932878494,
134
+ "seg_loss": 0.052243683487176895,
135
+ "total": 0.10082382734141915
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.044970616698265076,
141
+ "ssim_fused": 0.8730872273445129,
142
+ "seg_l1": 0.04204847663640976,
143
+ "seg_ssim_ref": 0.8730860948562622,
144
+ "depth": 0.010885113217813066,
145
+ "rgb_loss": 0.06135904788970947,
146
+ "seg_loss": 0.059021562337875366,
147
+ "total": 0.12039149534080265,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010885113217813066,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.008033135136215844
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.046033453196287155,
174
+ "ssim_fused": 0.8570051789283752,
175
+ "seg_l1": 0.0626758560538292,
176
+ "seg_ssim_ref": 0.857003390789032,
177
+ "depth": 0.009099718377172378,
178
+ "rgb_loss": 0.06542572379112244,
179
+ "seg_loss": 0.07874000817537308,
180
+ "total": 0.1441748242342921,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.009099718377172378,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0076561984118945995
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.021119173616170883,
207
+ "ssim_fused": 0.9184249043464661,
208
+ "seg_l1": 0.022779563441872597,
209
+ "seg_ssim_ref": 0.9184234738349915,
210
+ "depth": 0.0054847919422680415,
211
+ "rgb_loss": 0.03321035951375961,
212
+ "seg_loss": 0.03453895449638367,
213
+ "total": 0.06775479880208554,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0054847919422680415,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.005143390032545819
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.020833728834986687,
240
+ "ssim_fused": 0.9118534922599792,
241
+ "seg_l1": 0.023805728182196617,
242
+ "seg_ssim_ref": 0.9118518233299255,
243
+ "depth": 0.003685512498395724,
244
+ "rgb_loss": 0.03429628536105156,
245
+ "seg_loss": 0.036674220114946365,
246
+ "total": 0.07097419098849632,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003685512498395724,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0031762763872846132
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 200,
281
+ "adam_update_count": 31800
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32206575386226177
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_a2bdbd4c36784c0595fb009e237df794_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 201,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31801,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 200,
300
+ "trained_intervals": 31800,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31800,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.57228684425354,
333
+ "median": 6.6212968826293945,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08163794130086899,
347
+ "median": 0.08163794130086899,
348
+ "max": 0.08163794130086899,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4767152070999146,
354
+ "median": 5.0302534103393555,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.07636072486639023,
361
+ "median": 750.9183349609375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.378539562225342,
382
+ "median": 152.9748992919922,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08163794130086899,
410
+ "median": 0.08163794130086899,
411
+ "max": 0.08163794130086899,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11067,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0201.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0201",
5
+ "executed_epochs": 201,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_334efc7304fa48e79b46147ebe02dfa6.npz",
37
+ "optimizer_file": "boundary_334efc7304fa48e79b46147ebe02dfa6_optimizer.pt",
38
+ "arrays_sha256": "5e0c43c8c5f79207e8fe236077b85ffa3e911158496fd42d36bba03c8b30cfa0",
39
+ "optimizer_sha256": "be57dc6ec684ca918cb15d40773106ec4f40428d141c0d211bb56d3593d43a13",
40
+ "stage": "adam",
41
+ "completed_passes": 201,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 31959,
45
+ "adam_update_count": 31959,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 202,
49
+ "consumed_count": 201,
50
+ "last_submitted_update": 31959,
51
+ "last_consumed_update": 31800,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 31959,
56
+ "completed_passes": 201,
57
+ "next_interval": 0,
58
+ "trained_intervals": 31959,
59
+ "snapshot": "pass_end_0201",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 201,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 31959,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 31959,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003323965647723526,
83
+ "update_l2": 0.20647750794887543
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0026835943572223186,
91
+ "update_l2": 0.0009181275963783264
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.471805368666537e-05,
95
+ "update_l2": 0.005339436698704958
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09815934012752679,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11114,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08001936227083206,
117
+ "ground_restitution/effective": 0.08001936227083206,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09815934012752679,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03229456767439842,
129
+ "ssim_fused": 0.8916090726852417,
130
+ "seg_l1": 0.03620019555091858,
131
+ "seg_ssim_ref": 0.8916074633598328,
132
+ "depth": 0.006840481578383316,
133
+ "rgb_loss": 0.04751383513212204,
134
+ "seg_loss": 0.05063866078853607,
135
+ "total": 0.09815934012752679
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.04454357177019119,
141
+ "ssim_fused": 0.8733102083206177,
142
+ "seg_l1": 0.041315801441669464,
143
+ "seg_ssim_ref": 0.8733087182044983,
144
+ "depth": 0.010606594699599858,
145
+ "rgb_loss": 0.06097281724214554,
146
+ "seg_loss": 0.05839090049266815,
147
+ "total": 0.1193743243295133,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010606594699599858,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.007754616618002635
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.04491374269127846,
174
+ "ssim_fused": 0.8587250709533691,
175
+ "seg_l1": 0.06080184131860733,
176
+ "seg_ssim_ref": 0.8587231636047363,
177
+ "depth": 0.00856003326947749,
178
+ "rgb_loss": 0.0641859769821167,
179
+ "seg_loss": 0.07689683884382248,
180
+ "total": 0.14109138330978926,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.00856003326947749,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.007116513304199713
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.020142825320363045,
207
+ "ssim_fused": 0.9202574491500854,
208
+ "seg_l1": 0.021064696833491325,
209
+ "seg_ssim_ref": 0.9202559590339661,
210
+ "depth": 0.0049571324307080885,
211
+ "rgb_loss": 0.03206276893615723,
212
+ "seg_loss": 0.03280056640505791,
213
+ "total": 0.06486829619893614,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0049571324307080885,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004615730520985866
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.019578123465180397,
240
+ "ssim_fused": 0.9141436219215393,
241
+ "seg_l1": 0.021618440747261047,
242
+ "seg_ssim_ref": 0.9141420722007751,
243
+ "depth": 0.0032381659137478303,
244
+ "rgb_loss": 0.032833777368068695,
245
+ "seg_loss": 0.03446634113788605,
246
+ "total": 0.06730335667186849,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0032381659137478303,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002728929802636719
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 201,
281
+ "adam_update_count": 31959
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32189100282266736
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_334efc7304fa48e79b46147ebe02dfa6_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 202,
293
+ "next_interval": 0,
294
+ "next_adam_update": 31960,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 201,
300
+ "trained_intervals": 31959,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 31959,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.5942373275756836,
333
+ "median": 6.616064071655273,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07910123467445374,
347
+ "median": 0.07910123467445374,
348
+ "max": 0.07910123467445374,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.45284903049469,
354
+ "median": 5.024327754974365,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.07470282167196274,
361
+ "median": 746.9991455078125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.275277614593506,
382
+ "median": 152.07131958007812,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07910123467445374,
410
+ "median": 0.07910123467445374,
411
+ "max": 0.07910123467445374,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11114,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0202.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0202",
5
+ "executed_epochs": 202,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_3c490fdf16ff4c9da5a96ca905e80195.npz",
37
+ "optimizer_file": "boundary_3c490fdf16ff4c9da5a96ca905e80195_optimizer.pt",
38
+ "arrays_sha256": "b2e2ff47ceefacbc52dce8287615c33b41ae6a3858019ffe174e96786a374942",
39
+ "optimizer_sha256": "33709e17d50f22e339cdba0bc0f1d6339965ab483ee150650637eaee6e3bd772",
40
+ "stage": "adam",
41
+ "completed_passes": 202,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32118,
45
+ "adam_update_count": 32118,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 203,
49
+ "consumed_count": 202,
50
+ "last_submitted_update": 32118,
51
+ "last_consumed_update": 31959,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32118,
56
+ "completed_passes": 202,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32118,
59
+ "snapshot": "pass_end_0202",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 202,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32118,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32118,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002613410179037601,
83
+ "update_l2": 0.19322063028812408
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0015307258581742644,
91
+ "update_l2": 0.000344298779964447
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.7305060686776415e-05,
95
+ "update_l2": 0.007343754637986422
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08255369866425645,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11169,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10991547256708145,
117
+ "ground_restitution/effective": 0.10991547256708145,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08255369866425645,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026144929230213165,
129
+ "ssim_fused": 0.900811493396759,
130
+ "seg_l1": 0.027446391060948372,
131
+ "seg_ssim_ref": 0.9008098840713501,
132
+ "depth": 0.004908052929745852,
133
+ "rgb_loss": 0.040753647685050964,
134
+ "seg_loss": 0.041795141994953156,
135
+ "total": 0.08255369866425645
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03588190674781799,
141
+ "ssim_fused": 0.884243369102478,
142
+ "seg_l1": 0.030440054833889008,
143
+ "seg_ssim_ref": 0.884242057800293,
144
+ "depth": 0.008459726778708218,
145
+ "rgb_loss": 0.05185685306787491,
146
+ "seg_loss": 0.04750363528728485,
147
+ "total": 0.09936894808193847,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008459726778708218,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005607748697110995
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03442975506186485,
174
+ "ssim_fused": 0.8737688064575195,
175
+ "seg_l1": 0.04500649496912956,
176
+ "seg_ssim_ref": 0.8737666606903076,
177
+ "depth": 0.005354069828090724,
178
+ "rgb_loss": 0.052790042012929916,
179
+ "seg_loss": 0.061251863837242126,
180
+ "total": 0.11404726364529043,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005354069828090724,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.003910549862812946
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017128078266978264,
207
+ "ssim_fused": 0.9256556630134583,
208
+ "seg_l1": 0.01643240824341774,
209
+ "seg_ssim_ref": 0.9256542325019836,
210
+ "depth": 0.0035690099441790433,
211
+ "rgb_loss": 0.02857133001089096,
212
+ "seg_loss": 0.028015080839395523,
213
+ "total": 0.05658997986023066,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0035690099441790433,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0032276080344568214
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017139974981546402,
240
+ "ssim_fused": 0.9195780754089355,
241
+ "seg_l1": 0.017906613647937775,
242
+ "seg_ssim_ref": 0.9195765256881714,
243
+ "depth": 0.0022494051680054202,
244
+ "rgb_loss": 0.029796365648508072,
245
+ "seg_loss": 0.030409986153244972,
246
+ "total": 0.0602086030695662,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0022494051680054202,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0017401690568943093
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 202,
281
+ "adam_update_count": 32118
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32261240342631936
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_3c490fdf16ff4c9da5a96ca905e80195_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 203,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32119,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 202,
300
+ "trained_intervals": 32118,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32118,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.6088740825653076,
333
+ "median": 6.609367370605469,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.109571173787117,
347
+ "median": 0.109571173787117,
348
+ "max": 0.109571173787117,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4073277711868286,
354
+ "median": 5.009865760803223,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.07361738383769989,
361
+ "median": 742.0133056640625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.085024833679199,
382
+ "median": 149.89266967773438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.109571173787117,
410
+ "median": 0.109571173787117,
411
+ "max": 0.109571173787117,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11170,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0203.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0203",
5
+ "executed_epochs": 203,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_a581a853617b4fb0817ecae281ad8e69.npz",
37
+ "optimizer_file": "boundary_a581a853617b4fb0817ecae281ad8e69_optimizer.pt",
38
+ "arrays_sha256": "d5fdc87a5f9558bd9ed0209acae1877a64a7d29a40c0c661edaaeeaa03388393",
39
+ "optimizer_sha256": "e8daeaf945df48389e341442c31c973576339a35cc055d3aad042ccd19739139",
40
+ "stage": "adam",
41
+ "completed_passes": 203,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32277,
45
+ "adam_update_count": 32277,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 204,
49
+ "consumed_count": 203,
50
+ "last_submitted_update": 32277,
51
+ "last_consumed_update": 32118,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32277,
56
+ "completed_passes": 203,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32277,
59
+ "snapshot": "pass_end_0203",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 203,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32277,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32277,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005914124776609242,
83
+ "update_l2": 0.1920948326587677
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0009585411171428859,
91
+ "update_l2": 8.460134267807007e-06
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.530183908471372e-05,
95
+ "update_l2": 0.009555959142744541
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08420239837815845,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11235,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.05607447400689125,
117
+ "ground_restitution/effective": 0.05607447400689125,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08420239837815845,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02645796164870262,
129
+ "ssim_fused": 0.8998758792877197,
130
+ "seg_l1": 0.02872650697827339,
131
+ "seg_ssim_ref": 0.8998742699623108,
132
+ "depth": 0.00486040463530549,
133
+ "rgb_loss": 0.04119119048118591,
134
+ "seg_loss": 0.043006349354982376,
135
+ "total": 0.08420239837815845
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03398299589753151,
141
+ "ssim_fused": 0.8876073956489563,
142
+ "seg_l1": 0.030131857842206955,
143
+ "seg_ssim_ref": 0.8876062631607056,
144
+ "depth": 0.007869685436929575,
145
+ "rgb_loss": 0.04966491833329201,
146
+ "seg_loss": 0.04658423364162445,
147
+ "total": 0.09625701793506308,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007869685436929575,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005017707355332354
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.035020772367715836,
174
+ "ssim_fused": 0.8737404346466064,
175
+ "seg_l1": 0.045467622578144073,
176
+ "seg_ssim_ref": 0.8737382292747498,
177
+ "depth": 0.005117679716754807,
178
+ "rgb_loss": 0.05326852947473526,
179
+ "seg_loss": 0.061626456677913666,
180
+ "total": 0.11490010383236568,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005117679716754807,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0036741597514770305
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018825797364115715,
207
+ "ssim_fused": 0.9211679100990295,
208
+ "seg_l1": 0.020081350579857826,
209
+ "seg_ssim_ref": 0.9211664199829102,
210
+ "depth": 0.004028134499536828,
211
+ "rgb_loss": 0.030827056616544724,
212
+ "seg_loss": 0.03183179721236229,
213
+ "total": 0.06266288196340655,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004028134499536828,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0036867325898146054
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018002275377511978,
240
+ "ssim_fused": 0.9169878363609314,
241
+ "seg_l1": 0.01922520063817501,
242
+ "seg_ssim_ref": 0.9169862270355225,
243
+ "depth": 0.0024261188880007507,
244
+ "rgb_loss": 0.031004253774881363,
245
+ "seg_loss": 0.0319829136133194,
246
+ "total": 0.06298958978179846,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0024261188880007507,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0019168827768896396
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 203,
281
+ "adam_update_count": 32277
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3118820977397263
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_a581a853617b4fb0817ecae281ad8e69_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 204,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32278,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 203,
300
+ "trained_intervals": 32277,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32277,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.627690553665161,
333
+ "median": 6.604229927062988,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.056066013872623444,
347
+ "median": 0.056066013872623444,
348
+ "max": 0.056066013872623444,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3868016004562378,
354
+ "median": 5.008663654327393,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.07224512100219727,
361
+ "median": 738.2113647460938,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.0020294189453125,
382
+ "median": 149.7175750732422,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.056066013872623444,
410
+ "median": 0.056066013872623444,
411
+ "max": 0.056066013872623444,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11236,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0204.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0204",
5
+ "executed_epochs": 204,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_625bea6f6c5a4391b1bea1c4103e2cb1.npz",
37
+ "optimizer_file": "boundary_625bea6f6c5a4391b1bea1c4103e2cb1_optimizer.pt",
38
+ "arrays_sha256": "c3f9f61bb78c8e7c9c11fc4f668abf5b15f494c0ccd236159ccc371c20cb634f",
39
+ "optimizer_sha256": "e55b7d3d35be95722c9f7101d2e5859a716b7aaaff72e2cbf657e4526ef869ad",
40
+ "stage": "adam",
41
+ "completed_passes": 204,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32436,
45
+ "adam_update_count": 32436,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 205,
49
+ "consumed_count": 204,
50
+ "last_submitted_update": 32436,
51
+ "last_consumed_update": 32277,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32436,
56
+ "completed_passes": 204,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32436,
59
+ "snapshot": "pass_end_0204",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 204,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32436,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32436,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005959813133813441,
83
+ "update_l2": 0.22180616855621338
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0009603009093552828,
91
+ "update_l2": 0.0003644600510597229
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.402251943247393e-05,
95
+ "update_l2": 0.010932881385087967
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09084736765254467,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11276,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.06843219697475433,
117
+ "ground_restitution/effective": 0.06843219697475433,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09084736765254467,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.028765253722667694,
129
+ "ssim_fused": 0.8963188529014587,
130
+ "seg_l1": 0.03294512256979942,
131
+ "seg_ssim_ref": 0.8963173031806946,
132
+ "depth": 0.0062978350016354425,
133
+ "rgb_loss": 0.043748434633016586,
134
+ "seg_loss": 0.047092635184526443,
135
+ "total": 0.09084736765254467
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.034598641097545624,
141
+ "ssim_fused": 0.8866741061210632,
142
+ "seg_l1": 0.03145856410264969,
143
+ "seg_ssim_ref": 0.8866729736328125,
144
+ "depth": 0.009152829042277814,
145
+ "rgb_loss": 0.05034409090876579,
146
+ "seg_loss": 0.04783225804567337,
147
+ "total": 0.09818549805819114,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009152829042277814,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006300850960680594
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.038482699543237686,
174
+ "ssim_fused": 0.8680727481842041,
175
+ "seg_l1": 0.05196789652109146,
176
+ "seg_ssim_ref": 0.8680707216262817,
177
+ "depth": 0.007106446820238036,
178
+ "rgb_loss": 0.05717161297798157,
179
+ "seg_loss": 0.06796017289161682,
180
+ "total": 0.12513889231641862,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.007106446820238036,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.005662926854960258
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.02150437794625759,
207
+ "ssim_fused": 0.9177123308181763,
208
+ "seg_l1": 0.02453411929309368,
209
+ "seg_ssim_ref": 0.9177108407020569,
210
+ "depth": 0.005537069664789209,
211
+ "rgb_loss": 0.03366103768348694,
212
+ "seg_loss": 0.03608512878417969,
213
+ "total": 0.06975170353733141,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.005537069664789209,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.005195667755066986
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.020475290715694427,
240
+ "ssim_fused": 0.9128162264823914,
241
+ "seg_l1": 0.023819902911782265,
242
+ "seg_ssim_ref": 0.9128146767616272,
243
+ "depth": 0.0033949944792367103,
244
+ "rgb_loss": 0.03381698951125145,
245
+ "seg_loss": 0.03649298846721649,
246
+ "total": 0.07031337669823748,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0033949944792367103,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002885758368125599
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 204,
281
+ "adam_update_count": 32436
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31619578693062067
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_625bea6f6c5a4391b1bea1c4103e2cb1_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 205,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32437,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 204,
300
+ "trained_intervals": 32436,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32436,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.6319146156311035,
333
+ "median": 6.599448204040527,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.06806773692369461,
347
+ "median": 0.06806773692369461,
348
+ "max": 0.06806773692369461,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3946439027786255,
354
+ "median": 5.0097575187683105,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.0719405934214592,
361
+ "median": 734.6895141601562,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.033537864685059,
382
+ "median": 149.86846923828125,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.06806773692369461,
410
+ "median": 0.06806773692369461,
411
+ "max": 0.06806773692369461,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11278,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0205.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0205",
5
+ "executed_epochs": 205,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b91218fc08e84cc1b286467fe2813b11.npz",
37
+ "optimizer_file": "boundary_b91218fc08e84cc1b286467fe2813b11_optimizer.pt",
38
+ "arrays_sha256": "53cd42e23cbaa2f4342082c09aa955c87c7738db5edb5bcd67e4bb12f3662be1",
39
+ "optimizer_sha256": "3abf09f409fb196d49f0446c698b2c16827c4a15e3a9e7348000b3fd4c653be2",
40
+ "stage": "adam",
41
+ "completed_passes": 205,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32595,
45
+ "adam_update_count": 32595,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 206,
49
+ "consumed_count": 205,
50
+ "last_submitted_update": 32595,
51
+ "last_consumed_update": 32436,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32595,
56
+ "completed_passes": 205,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32595,
59
+ "snapshot": "pass_end_0205",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 205,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32595,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32595,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0006246736738830805,
83
+ "update_l2": 0.222084179520607
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0011696805013343692,
91
+ "update_l2": 0.0005069561302661896
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.3537708077346906e-05,
95
+ "update_l2": 0.007722676731646061
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08825311153223794,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11333,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.05973730608820915,
117
+ "ground_restitution/effective": 0.05973730608820915,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08825311153223794,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027842532843351364,
129
+ "ssim_fused": 0.8978900909423828,
130
+ "seg_l1": 0.03141120821237564,
131
+ "seg_ssim_ref": 0.8978886604309082,
132
+ "depth": 0.005862629321036478,
133
+ "rgb_loss": 0.042696014046669006,
134
+ "seg_loss": 0.04555123299360275,
135
+ "total": 0.08825311153223794
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.034057363867759705,
141
+ "ssim_fused": 0.887728214263916,
142
+ "seg_l1": 0.030692655593156815,
143
+ "seg_ssim_ref": 0.8877274394035339,
144
+ "depth": 0.008764193016411867,
145
+ "rgb_loss": 0.04970024898648262,
146
+ "seg_loss": 0.047008637338876724,
147
+ "total": 0.09671765051837576,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008764193016411867,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005912214934814644
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.036936502903699875,
174
+ "ssim_fused": 0.8707782626152039,
175
+ "seg_l1": 0.049443475902080536,
176
+ "seg_ssim_ref": 0.870776355266571,
177
+ "depth": 0.006514527391972175,
178
+ "rgb_loss": 0.05539355054497719,
179
+ "seg_loss": 0.06539951264858246,
180
+ "total": 0.12079957399566132,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006514527391972175,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0050710074266943975
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.020606011152267456,
207
+ "ssim_fused": 0.9192936420440674,
208
+ "seg_l1": 0.02292865514755249,
209
+ "seg_ssim_ref": 0.919292151927948,
210
+ "depth": 0.00511718728963415,
211
+ "rgb_loss": 0.03262608125805855,
212
+ "seg_loss": 0.03448449447751045,
213
+ "total": 0.06711569292285864,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00511718728963415,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004775785379911928
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01977025344967842,
240
+ "ssim_fused": 0.9137601256370544,
241
+ "seg_l1": 0.022580040618777275,
242
+ "seg_ssim_ref": 0.9137586951255798,
243
+ "depth": 0.0030546095861277234,
244
+ "rgb_loss": 0.03306417912244797,
245
+ "seg_loss": 0.03531229496002197,
246
+ "total": 0.06837952869205607,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0030546095861277234,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002545373475016611
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 205,
281
+ "adam_update_count": 32595
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32306535774841905
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b91218fc08e84cc1b286467fe2813b11_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 206,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32596,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 205,
300
+ "trained_intervals": 32595,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32595,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.6484122276306152,
333
+ "median": 6.590625762939453,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.05923034995794296,
347
+ "median": 0.05923034995794296,
348
+ "max": 0.05923034995794296,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.4021037817001343,
354
+ "median": 5.007694721221924,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.0707634761929512,
361
+ "median": 728.236572265625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.063739776611328,
382
+ "median": 149.56430053710938,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.05923034995794296,
410
+ "median": 0.05923034995794296,
411
+ "max": 0.05923034995794296,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11333,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0206.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0206",
5
+ "executed_epochs": 206,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_aeacf753d26c4217911cf63c28374ccb.npz",
37
+ "optimizer_file": "boundary_aeacf753d26c4217911cf63c28374ccb_optimizer.pt",
38
+ "arrays_sha256": "0abbc9100f76797241c4327ee173e0c69ba6fbcecab49f14a235def1d5944457",
39
+ "optimizer_sha256": "46e1c477df0033a23db49e17c333b4db0c7397e72e9cd827ad9d5dc40e4a3147",
40
+ "stage": "adam",
41
+ "completed_passes": 206,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32754,
45
+ "adam_update_count": 32754,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 207,
49
+ "consumed_count": 206,
50
+ "last_submitted_update": 32754,
51
+ "last_consumed_update": 32595,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32754,
56
+ "completed_passes": 206,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32754,
59
+ "snapshot": "pass_end_0206",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 206,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32754,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32754,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005086642340756953,
83
+ "update_l2": 0.23038308322429657
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.001187767251394689,
91
+ "update_l2": 0.00045410916209220886
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.7371728720027022e-05,
95
+ "update_l2": 0.008955284021794796
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08432868824311013,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11401,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.05711367353796959,
117
+ "ground_restitution/effective": 0.05711367353796959,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08432868824311013,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026474159210920334,
129
+ "ssim_fused": 0.900376558303833,
130
+ "seg_l1": 0.02911807969212532,
131
+ "seg_ssim_ref": 0.9003751277923584,
132
+ "depth": 0.005216831047496331,
133
+ "rgb_loss": 0.041104018688201904,
134
+ "seg_loss": 0.04321945086121559,
135
+ "total": 0.08432868824311013
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03324669599533081,
141
+ "ssim_fused": 0.8891547322273254,
142
+ "seg_l1": 0.029446076601743698,
143
+ "seg_ssim_ref": 0.8891538381576538,
144
+ "depth": 0.00821917882824239,
145
+ "rgb_loss": 0.04876641184091568,
146
+ "seg_loss": 0.045726094394922256,
147
+ "total": 0.09450072913995648,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00821917882824239,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005367200746645168
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03496658429503441,
174
+ "ssim_fused": 0.8747491836547852,
175
+ "seg_l1": 0.046165838837623596,
176
+ "seg_ssim_ref": 0.8747473359107971,
177
+ "depth": 0.005644868141229057,
178
+ "rgb_loss": 0.053023431450128555,
179
+ "seg_loss": 0.06198320537805557,
180
+ "total": 0.11501228542161565,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005644868141229057,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.00420134817595128
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.019238246604800224,
207
+ "ssim_fused": 0.9214679002761841,
208
+ "seg_l1": 0.02054624818265438,
209
+ "seg_ssim_ref": 0.9214662909507751,
210
+ "depth": 0.004418161887930862,
211
+ "rgb_loss": 0.031097017228603363,
212
+ "seg_loss": 0.032143741846084595,
213
+ "total": 0.06324517723657588,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004418161887930862,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004076759978208639
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018445106223225594,
240
+ "ssim_fused": 0.9161343574523926,
241
+ "seg_l1": 0.020314153283834457,
242
+ "seg_ssim_ref": 0.9161328077316284,
243
+ "depth": 0.002585115332583017,
244
+ "rgb_loss": 0.03152921423316002,
245
+ "seg_loss": 0.03302476182579994,
246
+ "total": 0.06455656117429254,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002585115332583017,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002075879221471906
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 206,
281
+ "adam_update_count": 32754
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3252312778495252
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_aeacf753d26c4217911cf63c28374ccb_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 207,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32755,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 206,
300
+ "trained_intervals": 32754,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32754,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.6626105308532715,
333
+ "median": 6.582951545715332,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.05665956437587738,
347
+ "median": 0.05665956437587738,
348
+ "max": 0.05665956437587738,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3950583934783936,
354
+ "median": 5.007258415222168,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.0697658583521843,
361
+ "median": 722.669189453125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.035210609436035,
382
+ "median": 149.49755859375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.05665956437587738,
410
+ "median": 0.05665956437587738,
411
+ "max": 0.05665956437587738,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11402,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0207.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0207",
5
+ "executed_epochs": 207,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_f6e5f2a620ef4a3388afacad532f42cd.npz",
37
+ "optimizer_file": "boundary_f6e5f2a620ef4a3388afacad532f42cd_optimizer.pt",
38
+ "arrays_sha256": "713bae5d6bf92e04aecf958cbb278e6c361ec91b4e2a2fef6c954f82658ec875",
39
+ "optimizer_sha256": "a9547cb039d3f65a73cfca550b78e9030bc661e10e7ad6d448bf392f2b57def8",
40
+ "stage": "adam",
41
+ "completed_passes": 207,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 32913,
45
+ "adam_update_count": 32913,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 208,
49
+ "consumed_count": 207,
50
+ "last_submitted_update": 32913,
51
+ "last_consumed_update": 32754,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 32913,
56
+ "completed_passes": 207,
57
+ "next_interval": 0,
58
+ "trained_intervals": 32913,
59
+ "snapshot": "pass_end_0207",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 207,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 32913,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 32913,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00023705681087449193,
83
+ "update_l2": 0.22016708552837372
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0016368502983823419,
91
+ "update_l2": 0.00046797096729278564
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.757697413675487e-05,
95
+ "update_l2": 0.00973607785999775
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08692336341288563,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11464,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09663514047861099,
117
+ "ground_restitution/effective": 0.09663514047861099,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08692336341288563,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027767091989517212,
129
+ "ssim_fused": 0.8980150818824768,
130
+ "seg_l1": 0.029887186363339424,
131
+ "seg_ssim_ref": 0.8980134725570679,
132
+ "depth": 0.005646403102846493,
133
+ "rgb_loss": 0.04261066019535065,
134
+ "seg_loss": 0.044307053089141846,
135
+ "total": 0.08692336341288563
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.037888024002313614,
141
+ "ssim_fused": 0.8815935254096985,
142
+ "seg_l1": 0.03294842317700386,
143
+ "seg_ssim_ref": 0.8815921545028687,
144
+ "depth": 0.009132648716863607,
145
+ "rgb_loss": 0.05399171635508537,
146
+ "seg_loss": 0.05004030838608742,
147
+ "total": 0.10404115738988966,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009132648716863607,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006280670635266385
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.036624882370233536,
174
+ "ssim_fused": 0.8695706725120544,
175
+ "seg_l1": 0.048616986721754074,
176
+ "seg_ssim_ref": 0.8695687055587769,
177
+ "depth": 0.0063583903449178775,
178
+ "rgb_loss": 0.055385772138834,
179
+ "seg_loss": 0.06497985124588013,
180
+ "total": 0.12037197804976875,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0063583903449178775,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0049148703796401
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018360713496804237,
207
+ "ssim_fused": 0.9236177802085876,
208
+ "seg_l1": 0.01849561184644699,
209
+ "seg_ssim_ref": 0.9236162900924683,
210
+ "depth": 0.004382494157263492,
211
+ "rgb_loss": 0.02996501512825489,
212
+ "seg_loss": 0.03007323294878006,
213
+ "total": 0.06004262870854706,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004382494157263492,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00404109224754127
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01819474995136261,
240
+ "ssim_fused": 0.9172782897949219,
241
+ "seg_l1": 0.01948772557079792,
242
+ "seg_ssim_ref": 0.9172767400741577,
243
+ "depth": 0.0027120791923409947,
244
+ "rgb_loss": 0.031100142747163773,
245
+ "seg_loss": 0.03213483467698097,
246
+ "total": 0.06323768950333708,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0027120791923409947,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002202843081229884
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 207,
281
+ "adam_update_count": 32913
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31422718800604343
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_f6e5f2a620ef4a3388afacad532f42cd_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 208,
293
+ "next_interval": 0,
294
+ "next_adam_update": 32914,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 207,
300
+ "trained_intervals": 32913,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 32913,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.6832220554351807,
333
+ "median": 6.5798726081848145,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0961671695113182,
347
+ "median": 0.0961671695113182,
348
+ "max": 0.0961671695113182,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3881484270095825,
354
+ "median": 4.996918678283691,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.06834259629249573,
361
+ "median": 720.4475708007812,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.007423400878906,
382
+ "median": 147.9571533203125,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0961671695113182,
410
+ "median": 0.0961671695113182,
411
+ "max": 0.0961671695113182,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11464,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0208.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0208",
5
+ "executed_epochs": 208,
6
+ "score": null,
7
+ "best_score": 0.06712247760116208,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_f66275617b914ebe9fe86605139c535f.npz",
37
+ "optimizer_file": "boundary_f66275617b914ebe9fe86605139c535f_optimizer.pt",
38
+ "arrays_sha256": "c998d8477c500c28fa4d073f06ad07da989ef71d09d1850d7b0d29b19ff53f41",
39
+ "optimizer_sha256": "78f3589df3239c2b0796d480e61ec303784d6ab2e5b5c66c71105418452d482f",
40
+ "stage": "adam",
41
+ "completed_passes": 208,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33072,
45
+ "adam_update_count": 33072,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 209,
49
+ "consumed_count": 208,
50
+ "last_submitted_update": 33072,
51
+ "last_consumed_update": 32913,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33072,
56
+ "completed_passes": 208,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33072,
59
+ "snapshot": "pass_end_0208",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 29892,
67
+ "pass_science": {
68
+ "completed_passes": 208,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33072,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33072,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005130179924890399,
83
+ "update_l2": 0.2306276559829712
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0013744154712185264,
91
+ "update_l2": 0.0004021972417831421
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.2738196750869974e-05,
95
+ "update_l2": 0.009632187895476818
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08442974151427278,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11527,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.06688715517520905,
117
+ "ground_restitution/effective": 0.06688715517520905,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08442974151427278,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026495564728975296,
129
+ "ssim_fused": 0.900543212890625,
130
+ "seg_l1": 0.029306277632713318,
131
+ "seg_ssim_ref": 0.9005417823791504,
132
+ "depth": 0.005255130477042695,
133
+ "rgb_loss": 0.041087813675403595,
134
+ "seg_loss": 0.043336670845746994,
135
+ "total": 0.08442974151427278
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03314260020852089,
141
+ "ssim_fused": 0.8888821005821228,
142
+ "seg_l1": 0.02945355884730816,
143
+ "seg_ssim_ref": 0.888881266117096,
144
+ "depth": 0.008208346751765478,
145
+ "rgb_loss": 0.04873766005039215,
146
+ "seg_loss": 0.04578659310936928,
147
+ "total": 0.09453245778122289,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008208346751765478,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005356368670168255
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.034765709191560745,
174
+ "ssim_fused": 0.8760350346565247,
175
+ "seg_l1": 0.04595721513032913,
176
+ "seg_ssim_ref": 0.8760332465171814,
177
+ "depth": 0.0056057816892564815,
178
+ "rgb_loss": 0.052605561912059784,
179
+ "seg_loss": 0.061559125781059265,
180
+ "total": 0.11417029347480831,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0056057816892564815,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004162261723978703
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01944822445511818,
207
+ "ssim_fused": 0.9211207032203674,
208
+ "seg_l1": 0.021071087568998337,
209
+ "seg_ssim_ref": 0.9211191534996033,
210
+ "depth": 0.004539350217226634,
211
+ "rgb_loss": 0.03133443742990494,
212
+ "seg_loss": 0.032633040100336075,
213
+ "total": 0.06397202060574854,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004539350217226634,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.004197948307504412
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018625721335411072,
240
+ "ssim_fused": 0.9161349534988403,
241
+ "seg_l1": 0.02074325457215309,
242
+ "seg_ssim_ref": 0.9161333441734314,
243
+ "depth": 0.0026670432499221837,
244
+ "rgb_loss": 0.03167358785867691,
245
+ "seg_loss": 0.033367935568094254,
246
+ "total": 0.06504419419531138,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0026670432499221837,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0021578071388110723
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 208,
281
+ "adam_update_count": 33072
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3399823787622154
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_f66275617b914ebe9fe86605139c535f_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 209,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33073,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 208,
300
+ "trained_intervals": 33072,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33072,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.706920623779297,
333
+ "median": 6.569104194641113,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0664849579334259,
347
+ "median": 0.0664849579334259,
348
+ "max": 0.0664849579334259,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3697339296340942,
354
+ "median": 4.994409084320068,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.06674201041460037,
361
+ "median": 712.7308349609375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.9343037605285645,
382
+ "median": 147.58993530273438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0664849579334259,
410
+ "median": 0.0664849579334259,
411
+ "max": 0.0664849579334259,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11528,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0209.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0209",
5
+ "executed_epochs": 209,
6
+ "score": null,
7
+ "best_score": 0.06689766943473685,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_8e4be36581e5431f9ba6107503944f28.npz",
37
+ "optimizer_file": "boundary_8e4be36581e5431f9ba6107503944f28_optimizer.pt",
38
+ "arrays_sha256": "5f009e7ff304d747e429f77ca02ffb60033e0068266ef375ea79b821d0c24c7c",
39
+ "optimizer_sha256": "891b57996223945b306724317e9cb14013c90ca00d7cf3f00a1b0c7f3516955f",
40
+ "stage": "adam",
41
+ "completed_passes": 209,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33231,
45
+ "adam_update_count": 33231,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 210,
49
+ "consumed_count": 209,
50
+ "last_submitted_update": 33231,
51
+ "last_consumed_update": 33072,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33231,
56
+ "completed_passes": 209,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33231,
59
+ "snapshot": "pass_end_0209",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33072,
67
+ "pass_science": {
68
+ "completed_passes": 209,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33231,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33231,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00026126945158466697,
83
+ "update_l2": 0.1954558789730072
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0016891859704628587,
91
+ "update_l2": 0.00023321807384490967
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.752855471044313e-05,
95
+ "update_l2": 0.006080979015678167
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08067242252775746,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11597,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07218584418296814,
117
+ "ground_restitution/effective": 0.07218584418296814,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08067242252775746,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.0252795722335577,
129
+ "ssim_fused": 0.9031606316566467,
130
+ "seg_l1": 0.027135087177157402,
131
+ "seg_ssim_ref": 0.9031591415405273,
132
+ "depth": 0.004651128736312094,
133
+ "rgb_loss": 0.03959153592586517,
134
+ "seg_loss": 0.041076235473155975,
135
+ "total": 0.08067242252775746
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03279748558998108,
141
+ "ssim_fused": 0.8897526264190674,
142
+ "seg_l1": 0.028616558760404587,
143
+ "seg_ssim_ref": 0.889751672744751,
144
+ "depth": 0.007710151351510367,
145
+ "rgb_loss": 0.048287466168403625,
146
+ "seg_loss": 0.04494291543960571,
147
+ "total": 0.09323809175936085,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007710151351510367,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004858173269913144
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03272850066423416,
174
+ "ssim_fused": 0.8814935088157654,
175
+ "seg_l1": 0.04255294427275658,
176
+ "seg_ssim_ref": 0.8814917802810669,
177
+ "depth": 0.004781967513192082,
178
+ "rgb_loss": 0.04988409951329231,
179
+ "seg_loss": 0.057743996381759644,
180
+ "total": 0.10763287413727485,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004781967513192082,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0033384475479143047
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018057551234960556,
207
+ "ssim_fused": 0.9235127568244934,
208
+ "seg_l1": 0.018583977594971657,
209
+ "seg_ssim_ref": 0.9235112071037292,
210
+ "depth": 0.0038633805943658157,
211
+ "rgb_loss": 0.029743490740656853,
212
+ "seg_loss": 0.030164940282702446,
213
+ "total": 0.05991229440395367,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0038633805943658157,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0035219786846435942
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017534755170345306,
240
+ "ssim_fused": 0.917883574962616,
241
+ "seg_l1": 0.018786868080496788,
242
+ "seg_ssim_ref": 0.9178820252418518,
243
+ "depth": 0.0022490154861801097,
244
+ "rgb_loss": 0.030451089143753052,
245
+ "seg_loss": 0.03145309165120125,
246
+ "total": 0.06190642981044048,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0022490154861801097,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0017397793750689983
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 209,
281
+ "adam_update_count": 33231
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32750310422852635
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_8e4be36581e5431f9ba6107503944f28_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 210,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33232,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 209,
300
+ "trained_intervals": 33231,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33231,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.7190258502960205,
333
+ "median": 6.561671257019043,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07195262610912323,
347
+ "median": 0.07195262610912323,
348
+ "max": 0.07195262610912323,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3505859375,
354
+ "median": 4.986119270324707,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.06593895703554153,
361
+ "median": 707.452880859375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.8596863746643066,
382
+ "median": 146.36776733398438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07195262610912323,
410
+ "median": 0.07195262610912323,
411
+ "max": 0.07195262610912323,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11597,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0210.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0210",
5
+ "executed_epochs": 210,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d7499851cc8542e8883bdf7f18f7f2f2.npz",
37
+ "optimizer_file": "boundary_d7499851cc8542e8883bdf7f18f7f2f2_optimizer.pt",
38
+ "arrays_sha256": "0345339a8a423f301a7c53f60b0df744e72d7906bc3e6b2b3a078607386ad520",
39
+ "optimizer_sha256": "6fbddd6f707c72e087aeb182dfa6dc9c4ed17f89c3d13d30a6e4babeb7a68726",
40
+ "stage": "adam",
41
+ "completed_passes": 210,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33390,
45
+ "adam_update_count": 33390,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 211,
49
+ "consumed_count": 210,
50
+ "last_submitted_update": 33390,
51
+ "last_consumed_update": 33231,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33390,
56
+ "completed_passes": 210,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33390,
59
+ "snapshot": "pass_end_0210",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 210,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33390,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33390,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003034905530512333,
83
+ "update_l2": 0.22317807376384735
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0020411477889865637,
91
+ "update_l2": 0.0006559193134307861
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.3585669623571448e-05,
95
+ "update_l2": 0.004625269211828709
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08084520702848655,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11666,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.05417840927839279,
117
+ "ground_restitution/effective": 0.05417840927839279,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08084520702848655,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.025301547721028328,
129
+ "ssim_fused": 0.9028407335281372,
130
+ "seg_l1": 0.027169153094291687,
131
+ "seg_ssim_ref": 0.9028393030166626,
132
+ "depth": 0.004648283519572643,
133
+ "rgb_loss": 0.039673104882240295,
134
+ "seg_loss": 0.04116745665669441,
135
+ "total": 0.08084520702848655
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03278549015522003,
141
+ "ssim_fused": 0.8901386857032776,
142
+ "seg_l1": 0.028707820922136307,
143
+ "seg_ssim_ref": 0.890137791633606,
144
+ "depth": 0.007680963942007835,
145
+ "rgb_loss": 0.04820065572857857,
146
+ "seg_loss": 0.044938698410987854,
147
+ "total": 0.09314703137821813,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007680963942007835,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004828985860410612
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03267969191074371,
174
+ "ssim_fused": 0.8806136846542358,
175
+ "seg_l1": 0.04250682517886162,
176
+ "seg_ssim_ref": 0.8806120753288269,
177
+ "depth": 0.004800947506364641,
178
+ "rgb_loss": 0.05002101510763168,
179
+ "seg_loss": 0.05788304656744003,
180
+ "total": 0.10790886262257808,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004800947506364641,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0033574275410868638
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017963672056794167,
207
+ "ssim_fused": 0.92366623878479,
208
+ "seg_l1": 0.018296530470252037,
209
+ "seg_ssim_ref": 0.9236647486686707,
210
+ "depth": 0.0038572373603129135,
211
+ "rgb_loss": 0.029637690633535385,
212
+ "seg_loss": 0.029904276132583618,
213
+ "total": 0.05954582400347932,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0038572373603129135,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0035158354505906916
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.0177773404866457,
240
+ "ssim_fused": 0.916944146156311,
241
+ "seg_l1": 0.01916543021798134,
242
+ "seg_ssim_ref": 0.9169426560401917,
243
+ "depth": 0.002253985269605182,
244
+ "rgb_loss": 0.030833043158054352,
245
+ "seg_loss": 0.03194381296634674,
246
+ "total": 0.0627791101096707,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002253985269605182,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0017447491584940708
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 210,
281
+ "adam_update_count": 33390
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3344913190230727
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d7499851cc8542e8883bdf7f18f7f2f2_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 211,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33391,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 210,
300
+ "trained_intervals": 33390,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33390,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.7445263862609863,
333
+ "median": 6.556567192077637,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.053522489964962006,
347
+ "median": 0.053522489964962006,
348
+ "max": 0.053522489964962006,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3518421649932861,
354
+ "median": 4.984561920166016,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.0642787367105484,
361
+ "median": 703.8511962890625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.8645379543304443,
382
+ "median": 146.14337158203125,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.053522489964962006,
410
+ "median": 0.053522489964962006,
411
+ "max": 0.053522489964962006,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11666,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0211.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0211",
5
+ "executed_epochs": 211,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_049949c7fdc645208ccbf3b08f92d183.npz",
37
+ "optimizer_file": "boundary_049949c7fdc645208ccbf3b08f92d183_optimizer.pt",
38
+ "arrays_sha256": "ab2072d30ddba5a9477275b7f14d5c1a0f3222cb6173e4599cec768a4a31f4dd",
39
+ "optimizer_sha256": "0eb3f5cf3e7a9e9f5f08aba7488bf911e499c0de1c3c8116db655c7dcbc31b24",
40
+ "stage": "adam",
41
+ "completed_passes": 211,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33549,
45
+ "adam_update_count": 33549,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 212,
49
+ "consumed_count": 211,
50
+ "last_submitted_update": 33549,
51
+ "last_consumed_update": 33390,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33549,
56
+ "completed_passes": 211,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33549,
59
+ "snapshot": "pass_end_0211",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 211,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33549,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33549,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002269035467179492,
83
+ "update_l2": 0.23356899619102478
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.001610525301657617,
91
+ "update_l2": 0.00046165287494659424
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.475931928027421e-05,
95
+ "update_l2": 0.011511589400470257
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.09655921270181865,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11740,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.11376173794269562,
117
+ "ground_restitution/effective": 0.11376173794269562,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.09655921270181865,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.03157658129930496,
129
+ "ssim_fused": 0.8927176594734192,
130
+ "seg_l1": 0.035471878945827484,
131
+ "seg_ssim_ref": 0.8927161693572998,
132
+ "depth": 0.007202076217842502,
133
+ "rgb_loss": 0.04671773687005043,
134
+ "seg_loss": 0.049834273755550385,
135
+ "total": 0.09655921270181865
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.04177456349134445,
141
+ "ssim_fused": 0.8780779838562012,
142
+ "seg_l1": 0.03662930428981781,
143
+ "seg_ssim_ref": 0.8780769109725952,
144
+ "depth": 0.010318952822052588,
145
+ "rgb_loss": 0.05780405551195145,
146
+ "seg_loss": 0.053688064217567444,
147
+ "total": 0.11150243868234094,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.010318952822052588,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0074669747404553675
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.04082720726728439,
174
+ "ssim_fused": 0.8648779392242432,
175
+ "seg_l1": 0.055017996579408646,
176
+ "seg_ssim_ref": 0.8648759126663208,
177
+ "depth": 0.008013376822333213,
178
+ "rgb_loss": 0.05968617647886276,
179
+ "seg_loss": 0.07103921473026276,
180
+ "total": 0.13073339713536725,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.008013376822333213,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.006569856857055437
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.021041743457317352,
207
+ "ssim_fused": 0.9191224575042725,
208
+ "seg_l1": 0.02305230125784874,
209
+ "seg_ssim_ref": 0.9191210269927979,
210
+ "depth": 0.00598896534383866,
211
+ "rgb_loss": 0.03300890326499939,
212
+ "seg_loss": 0.03461763635277748,
213
+ "total": 0.06763252485783042,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00598896534383866,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0056475634341164385
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.02266281470656395,
240
+ "ssim_fused": 0.9087921977043152,
241
+ "seg_l1": 0.02718791365623474,
242
+ "seg_ssim_ref": 0.9087907075881958,
243
+ "depth": 0.004487009883145543,
244
+ "rgb_loss": 0.03637181222438812,
245
+ "seg_loss": 0.03999219089746475,
246
+ "total": 0.07636849013173602,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.004487009883145543,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.003977773772034432
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 211,
281
+ "adam_update_count": 33549
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.33434219285845757
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_049949c7fdc645208ccbf3b08f92d183_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 212,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33550,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 211,
300
+ "trained_intervals": 33549,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33549,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.7888667583465576,
333
+ "median": 6.55505895614624,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.11330008506774902,
347
+ "median": 0.11330008506774902,
348
+ "max": 0.11330008506774902,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.392371654510498,
354
+ "median": 4.987674713134766,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.06149085983633995,
361
+ "median": 702.7905883789062,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 4.024383068084717,
382
+ "median": 146.60562133789062,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.11330008506774902,
410
+ "median": 0.11330008506774902,
411
+ "max": 0.11330008506774902,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11740,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0212.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0212",
5
+ "executed_epochs": 212,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_5ce4b3886c0c49288bfabb473e02a0a6.npz",
37
+ "optimizer_file": "boundary_5ce4b3886c0c49288bfabb473e02a0a6_optimizer.pt",
38
+ "arrays_sha256": "84c68aa28eb650412ab1b429abe366449d8a93681b9b20af5532064bbe787f4b",
39
+ "optimizer_sha256": "e8608043c74e205b5f669b8d21bb235a4c3f9666b3d1052b957380b7e63fcdbf",
40
+ "stage": "adam",
41
+ "completed_passes": 212,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33708,
45
+ "adam_update_count": 33708,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 213,
49
+ "consumed_count": 212,
50
+ "last_submitted_update": 33708,
51
+ "last_consumed_update": 33549,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33708,
56
+ "completed_passes": 212,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33708,
59
+ "snapshot": "pass_end_0212",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 212,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33708,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33708,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002059525140793994,
83
+ "update_l2": 0.19872482120990753
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.003300561336800456,
91
+ "update_l2": 0.0006908178329467773
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.1670191421872005e-05,
95
+ "update_l2": 0.004809511825442314
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08514651840172932,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11788,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07537195831537247,
117
+ "ground_restitution/effective": 0.07537195831537247,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08514651840172932,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027262771502137184,
129
+ "ssim_fused": 0.899674654006958,
130
+ "seg_l1": 0.02900102362036705,
131
+ "seg_ssim_ref": 0.8996731042861938,
132
+ "depth": 0.005043089317540547,
133
+ "rgb_loss": 0.04187528043985367,
134
+ "seg_loss": 0.04326619952917099,
135
+ "total": 0.08514651840172932
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.038537751883268356,
141
+ "ssim_fused": 0.881014347076416,
142
+ "seg_l1": 0.034232355654239655,
143
+ "seg_ssim_ref": 0.8810130953788757,
144
+ "depth": 0.008664396575603169,
145
+ "rgb_loss": 0.05462733283638954,
146
+ "seg_loss": 0.051183268427848816,
147
+ "total": 0.10581926193552366,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008664396575603169,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005812418494005946
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03645695000886917,
174
+ "ssim_fused": 0.8708711266517639,
175
+ "seg_l1": 0.04787807911634445,
176
+ "seg_ssim_ref": 0.870868980884552,
177
+ "depth": 0.005681275454541771,
178
+ "rgb_loss": 0.054991334676742554,
179
+ "seg_loss": 0.06412866711616516,
180
+ "total": 0.11912568306836226,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005681275454541771,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004237755489263993
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.016885193064808846,
207
+ "ssim_fused": 0.9270904064178467,
208
+ "seg_l1": 0.015963124111294746,
209
+ "seg_ssim_ref": 0.9270889163017273,
210
+ "depth": 0.003554953954749636,
211
+ "rgb_loss": 0.02809007465839386,
212
+ "seg_loss": 0.027352716773748398,
213
+ "total": 0.05544634638609701,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003554953954749636,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0032135520450274147
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01717119850218296,
240
+ "ssim_fused": 0.9197229146957397,
241
+ "seg_l1": 0.017930537462234497,
242
+ "seg_ssim_ref": 0.9197214841842651,
243
+ "depth": 0.002271731285267613,
244
+ "rgb_loss": 0.02979237586259842,
245
+ "seg_loss": 0.03040013462305069,
246
+ "total": 0.060194782216934375,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002271731285267613,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0017624951741565015
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 212,
281
+ "adam_update_count": 33708
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3450912921689451
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_5ce4b3886c0c49288bfabb473e02a0a6_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 213,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33709,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 212,
300
+ "trained_intervals": 33708,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33708,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.830418348312378,
333
+ "median": 6.55464506149292,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07468114048242569,
347
+ "median": 0.07468114048242569,
348
+ "max": 0.07468114048242569,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3135273456573486,
354
+ "median": 4.949926376342773,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05898817256093025,
361
+ "median": 702.499755859375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.7192695140838623,
382
+ "median": 141.1685791015625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07468114048242569,
410
+ "median": 0.07468114048242569,
411
+ "max": 0.07468114048242569,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11789,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0213.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0213",
5
+ "executed_epochs": 213,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_c323b7f6ea6742a4a6a77d2930f445ef.npz",
37
+ "optimizer_file": "boundary_c323b7f6ea6742a4a6a77d2930f445ef_optimizer.pt",
38
+ "arrays_sha256": "55d7481551c62fb127ec49c33625092f455a362f55dbd54477a7a11468615aba",
39
+ "optimizer_sha256": "a8105258496fb586dc077560d7e4fedeb27843a521d8b75651813f6794165a1e",
40
+ "stage": "adam",
41
+ "completed_passes": 213,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 33867,
45
+ "adam_update_count": 33867,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 214,
49
+ "consumed_count": 213,
50
+ "last_submitted_update": 33867,
51
+ "last_consumed_update": 33708,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 33867,
56
+ "completed_passes": 213,
57
+ "next_interval": 0,
58
+ "trained_intervals": 33867,
59
+ "snapshot": "pass_end_0213",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 213,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 33867,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 33867,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002538867702241987,
83
+ "update_l2": 0.19111691415309906
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0026155367959290743,
91
+ "update_l2": 0.0006481409072875977
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.462185825104825e-05,
95
+ "update_l2": 0.006111645605415106
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08861994528958614,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11849,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10456811636686325,
117
+ "ground_restitution/effective": 0.10456811636686325,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08861994528958614,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02862260863184929,
129
+ "ssim_fused": 0.897244930267334,
130
+ "seg_l1": 0.03076712042093277,
131
+ "seg_ssim_ref": 0.8972434401512146,
132
+ "depth": 0.005835386012140953,
133
+ "rgb_loss": 0.043449100106954575,
134
+ "seg_loss": 0.045165009796619415,
135
+ "total": 0.08861994528958614
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.039552148431539536,
141
+ "ssim_fused": 0.8793402910232544,
142
+ "seg_l1": 0.03409537300467491,
143
+ "seg_ssim_ref": 0.8793390989303589,
144
+ "depth": 0.009470244130964468,
145
+ "rgb_loss": 0.05577366054058075,
146
+ "seg_loss": 0.05140847712755203,
147
+ "total": 0.10719160791226374,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.009470244130964468,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.006618266049367246
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.037901025265455246,
174
+ "ssim_fused": 0.8692943453788757,
175
+ "seg_l1": 0.050233520567417145,
176
+ "seg_ssim_ref": 0.8692923784255981,
177
+ "depth": 0.006531086528211212,
178
+ "rgb_loss": 0.05646195262670517,
179
+ "seg_loss": 0.06632834672927856,
180
+ "total": 0.12279683044251194,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.006531086528211212,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.005087566562933434
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01815035566687584,
207
+ "ssim_fused": 0.9242334961891174,
208
+ "seg_l1": 0.01802832819521427,
209
+ "seg_ssim_ref": 0.9242320656776428,
210
+ "depth": 0.004289982360220618,
211
+ "rgb_loss": 0.029673585668206215,
212
+ "seg_loss": 0.029576249420642853,
213
+ "total": 0.05925412320856414,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004289982360220618,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003948580450498396
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018886912614107132,
240
+ "ssim_fused": 0.9161116480827332,
241
+ "seg_l1": 0.020711269229650497,
242
+ "seg_ssim_ref": 0.9161102175712585,
243
+ "depth": 0.003050231029167512,
244
+ "rgb_loss": 0.031887199729681015,
245
+ "seg_loss": 0.03334697335958481,
246
+ "total": 0.0652372195950047,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.003050231029167512,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0025409949180564013
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 213,
281
+ "adam_update_count": 33867
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32677373802289367
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_c323b7f6ea6742a4a6a77d2930f445ef_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 214,
293
+ "next_interval": 0,
294
+ "next_adam_update": 33868,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 213,
300
+ "trained_intervals": 33867,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 33867,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.839906692504883,
333
+ "median": 6.553922176361084,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.10391997545957565,
347
+ "median": 0.10391997545957565,
348
+ "max": 0.10391997545957565,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.3038661479949951,
354
+ "median": 4.928182601928711,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05843111872673035,
361
+ "median": 701.9921264648438,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.6835103034973145,
382
+ "median": 138.13278198242188,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.10391997545957565,
410
+ "median": 0.10391997545957565,
411
+ "max": 0.10391997545957565,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11849,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0214.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0214",
5
+ "executed_epochs": 214,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_46f7e7d444df4f2880aa4a2b04fa3f66.npz",
37
+ "optimizer_file": "boundary_46f7e7d444df4f2880aa4a2b04fa3f66_optimizer.pt",
38
+ "arrays_sha256": "6afc26eb7235680e03aa009fe3e51e636c46320c817375baafabf8847d3bd71e",
39
+ "optimizer_sha256": "87940121770cb2d157a5a03f708158ba128f1d7734b0170084f770305ce2e6d6",
40
+ "stage": "adam",
41
+ "completed_passes": 214,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34026,
45
+ "adam_update_count": 34026,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 215,
49
+ "consumed_count": 214,
50
+ "last_submitted_update": 34026,
51
+ "last_consumed_update": 33867,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34026,
56
+ "completed_passes": 214,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34026,
59
+ "snapshot": "pass_end_0214",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 214,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34026,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34026,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.000243868023972027,
83
+ "update_l2": 0.19274702668190002
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.002565644681453705,
91
+ "update_l2": 0.0005662217736244202
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.7109442928340286e-05,
95
+ "update_l2": 0.004969554487615824
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08565264487953905,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11899,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0993167981505394,
117
+ "ground_restitution/effective": 0.0993167981505394,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08565264487953905,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027230387553572655,
129
+ "ssim_fused": 0.8987346291542053,
130
+ "seg_l1": 0.029195772483944893,
131
+ "seg_ssim_ref": 0.8987330794334412,
132
+ "depth": 0.00524627359633916,
133
+ "rgb_loss": 0.04203738644719124,
134
+ "seg_loss": 0.04361001402139664,
135
+ "total": 0.08565264487953905
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03771607577800751,
141
+ "ssim_fused": 0.8809029459953308,
142
+ "seg_l1": 0.03316061571240425,
143
+ "seg_ssim_ref": 0.8809016942977905,
144
+ "depth": 0.008918909295915057,
145
+ "rgb_loss": 0.053992271423339844,
146
+ "seg_loss": 0.050348155200481415,
147
+ "total": 0.10434934553311717,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008918909295915057,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0060669312143178345
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.0355660617351532,
174
+ "ssim_fused": 0.871598482131958,
175
+ "seg_l1": 0.04686335101723671,
176
+ "seg_ssim_ref": 0.8715963363647461,
177
+ "depth": 0.0058120469846185815,
178
+ "rgb_loss": 0.054133154451847076,
179
+ "seg_loss": 0.06317141652107239,
180
+ "total": 0.11731038301990408,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0058120469846185815,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004368527019340804
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01768885739147663,
207
+ "ssim_fused": 0.9247609376907349,
208
+ "seg_l1": 0.017479751259088516,
209
+ "seg_ssim_ref": 0.9247593879699707,
210
+ "depth": 0.003814807337856748,
211
+ "rgb_loss": 0.02919889986515045,
212
+ "seg_loss": 0.029031924903392792,
213
+ "total": 0.0582346395758811,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003814807337856748,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0034734054281345254
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01795055717229843,
240
+ "ssim_fused": 0.9176761507987976,
241
+ "seg_l1": 0.019279368221759796,
242
+ "seg_ssim_ref": 0.917674720287323,
243
+ "depth": 0.0024393307669662557,
244
+ "rgb_loss": 0.030825216323137283,
245
+ "seg_loss": 0.03188855201005936,
246
+ "total": 0.0627162113892539,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0024393307669662557,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0019300946558551448
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 214,
281
+ "adam_update_count": 34026
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32987759821116924
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_46f7e7d444df4f2880aa4a2b04fa3f66_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 215,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34027,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 214,
300
+ "trained_intervals": 34026,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34026,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.8524491786956787,
333
+ "median": 6.550889015197754,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09875057637691498,
347
+ "median": 0.09875057637691498,
348
+ "max": 0.09875057637691498,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2741371393203735,
354
+ "median": 4.9182233810424805,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.057702820748090744,
361
+ "median": 699.8660888671875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.5756149291992188,
382
+ "median": 136.759521484375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09875057637691498,
410
+ "median": 0.09875057637691498,
411
+ "max": 0.09875057637691498,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11899,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0215.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0215",
5
+ "executed_epochs": 215,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_2f8ff72f5d3d47fd9c9bcd2e403eff8b.npz",
37
+ "optimizer_file": "boundary_2f8ff72f5d3d47fd9c9bcd2e403eff8b_optimizer.pt",
38
+ "arrays_sha256": "d5c2ca8c9549954694bd512c4f2f1dde0cd05aac3e119db47cb4c3497e3bc956",
39
+ "optimizer_sha256": "c4ed73a5ac0df2fc7b207596d74bc209af8f415862d79d58cbdd3899c51eeb67",
40
+ "stage": "adam",
41
+ "completed_passes": 215,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34185,
45
+ "adam_update_count": 34185,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 216,
49
+ "consumed_count": 215,
50
+ "last_submitted_update": 34185,
51
+ "last_consumed_update": 34026,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34185,
56
+ "completed_passes": 215,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34185,
59
+ "snapshot": "pass_end_0215",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 215,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34185,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34185,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002232796250609681,
83
+ "update_l2": 0.20747719705104828
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0025603934191167355,
91
+ "update_l2": 0.0006285533308982849
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.3592412364669144e-05,
95
+ "update_l2": 0.0058539560995996
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08467691083467893,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 11957,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0939699187874794,
117
+ "ground_restitution/effective": 0.0939699187874794,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08467691083467893,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026850668713450432,
129
+ "ssim_fused": 0.8993028402328491,
130
+ "seg_l1": 0.028640098869800568,
131
+ "seg_ssim_ref": 0.899301290512085,
132
+ "depth": 0.005106153258604269,
133
+ "rgb_loss": 0.04161997511982918,
134
+ "seg_loss": 0.0430518314242363,
135
+ "total": 0.08467691083467893
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03703516349196434,
141
+ "ssim_fused": 0.8820713758468628,
142
+ "seg_l1": 0.032453667372465134,
143
+ "seg_ssim_ref": 0.8820700645446777,
144
+ "depth": 0.008682977438937457,
145
+ "rgb_loss": 0.05321385711431503,
146
+ "seg_loss": 0.0495489239692688,
147
+ "total": 0.10277146406102276,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008682977438937457,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005830999357340237
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.035406313836574554,
174
+ "ssim_fused": 0.8717167377471924,
175
+ "seg_l1": 0.046504437923431396,
176
+ "seg_ssim_ref": 0.8717147707939148,
177
+ "depth": 0.005661032242312665,
178
+ "rgb_loss": 0.053981706500053406,
179
+ "seg_loss": 0.06286059319972992,
180
+ "total": 0.11684796073202564,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005661032242312665,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004217512277034888
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017259418964385986,
207
+ "ssim_fused": 0.9255577325820923,
208
+ "seg_l1": 0.016717154532670975,
209
+ "seg_ssim_ref": 0.9255563020706177,
210
+ "depth": 0.0036883747526589364,
211
+ "rgb_loss": 0.02869598940014839,
212
+ "seg_loss": 0.028262464329600334,
213
+ "total": 0.05696214024185624,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0036883747526589364,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003346972842936714
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017701782286167145,
240
+ "ssim_fused": 0.9178653955459595,
241
+ "seg_l1": 0.018885133787989616,
242
+ "seg_ssim_ref": 0.9178638458251953,
243
+ "depth": 0.0023922286005080163,
244
+ "rgb_loss": 0.03058834746479988,
245
+ "seg_loss": 0.03153533861041069,
246
+ "total": 0.06212607830381108,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0023922286005080163,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0018829924893969045
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 215,
281
+ "adam_update_count": 34185
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3272044430486858
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_2f8ff72f5d3d47fd9c9bcd2e403eff8b_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 216,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34186,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 215,
300
+ "trained_intervals": 34185,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34185,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.8641443252563477,
333
+ "median": 6.5492730140686035,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09334136545658112,
347
+ "median": 0.09334136545658112,
348
+ "max": 0.09334136545658112,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2623825073242188,
354
+ "median": 4.905450344085693,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05703191086649895,
361
+ "median": 698.7359619140625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.5338306427001953,
382
+ "median": 135.024169921875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09334136545658112,
410
+ "median": 0.09334136545658112,
411
+ "max": 0.09334136545658112,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 11957,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0216.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0216",
5
+ "executed_epochs": 216,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b4f1e5c55c8d42eb834cc5eec1f563be.npz",
37
+ "optimizer_file": "boundary_b4f1e5c55c8d42eb834cc5eec1f563be_optimizer.pt",
38
+ "arrays_sha256": "c3353020bc3ca9611bed1e9facee66f0a25c8d383c91e33b3d4b115d41a551c7",
39
+ "optimizer_sha256": "0648d6bd3078276d3934b7b21eb1bddff1378211419baab36aee59bc727d4daf",
40
+ "stage": "adam",
41
+ "completed_passes": 216,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34344,
45
+ "adam_update_count": 34344,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 217,
49
+ "consumed_count": 216,
50
+ "last_submitted_update": 34344,
51
+ "last_consumed_update": 34185,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34344,
56
+ "completed_passes": 216,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34344,
59
+ "snapshot": "pass_end_0216",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 216,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34344,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34344,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002207376528531313,
83
+ "update_l2": 0.21372155845165253
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0020116507075726986,
91
+ "update_l2": 0.0006882995367050171
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.416634353925474e-05,
95
+ "update_l2": 0.005164607428014278
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08435797826786516,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12023,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09632205963134766,
117
+ "ground_restitution/effective": 0.09632205963134766,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08435797826786516,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026881204918026924,
129
+ "ssim_fused": 0.8999201655387878,
130
+ "seg_l1": 0.028519652783870697,
131
+ "seg_ssim_ref": 0.8999186754226685,
132
+ "depth": 0.005056573348026916,
133
+ "rgb_loss": 0.04152093082666397,
134
+ "seg_loss": 0.04283199459314346,
135
+ "total": 0.08435797826786516
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03668738529086113,
141
+ "ssim_fused": 0.8834512233734131,
142
+ "seg_l1": 0.031213359907269478,
143
+ "seg_ssim_ref": 0.8834499716758728,
144
+ "depth": 0.00827637572522482,
145
+ "rgb_loss": 0.052659664303064346,
146
+ "seg_loss": 0.04828069359064102,
147
+ "total": 0.1009486379947209,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00827637572522482,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005424397643627598
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03523115813732147,
174
+ "ssim_fused": 0.8737455010414124,
175
+ "seg_l1": 0.04602876678109169,
176
+ "seg_ssim_ref": 0.87374347448349,
177
+ "depth": 0.0055523145721617356,
178
+ "rgb_loss": 0.05343582481145859,
179
+ "seg_loss": 0.062074318528175354,
180
+ "total": 0.11551569565420611,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0055523145721617356,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004108794606883959
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017270458862185478,
207
+ "ssim_fused": 0.9259052276611328,
208
+ "seg_l1": 0.016783270984888077,
209
+ "seg_ssim_ref": 0.9259037971496582,
210
+ "depth": 0.003780701727188037,
211
+ "rgb_loss": 0.02863532118499279,
212
+ "seg_loss": 0.02824585884809494,
213
+ "total": 0.056884962597460065,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003780701727188037,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0034392998174658145
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.018335813656449318,
240
+ "ssim_fused": 0.9165787696838379,
241
+ "seg_l1": 0.020053211599588394,
242
+ "seg_ssim_ref": 0.9165773391723633,
243
+ "depth": 0.0026169013675330726,
244
+ "rgb_loss": 0.031352899968624115,
245
+ "seg_loss": 0.03272709995508194,
246
+ "total": 0.06408261682507359,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0026169013675330726,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002107665256421961
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 216,
281
+ "adam_update_count": 34344
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3228179500438273
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b4f1e5c55c8d42eb834cc5eec1f563be_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 217,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34345,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 216,
300
+ "trained_intervals": 34344,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34344,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.8787074089050293,
333
+ "median": 6.546571731567383,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09563376009464264,
347
+ "median": 0.09563376009464264,
348
+ "max": 0.09563376009464264,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2573281526565552,
354
+ "median": 4.905157566070557,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05620737001299858,
361
+ "median": 696.8509521484375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.516014575958252,
382
+ "median": 134.98941040039062,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09563376009464264,
410
+ "median": 0.09563376009464264,
411
+ "max": 0.09563376009464264,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12023,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0217.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0217",
5
+ "executed_epochs": 217,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_c8c5b61c9e10493f84d0246c18bc3911.npz",
37
+ "optimizer_file": "boundary_c8c5b61c9e10493f84d0246c18bc3911_optimizer.pt",
38
+ "arrays_sha256": "3a837cf1021c73a498e030aae1fe119740e635d2bdafba968da1011763cd7bd9",
39
+ "optimizer_sha256": "a5236b0fc5c6b4fa2dca627a3815576e07cb54edfda0536390d48edcf4b2faa7",
40
+ "stage": "adam",
41
+ "completed_passes": 217,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34503,
45
+ "adam_update_count": 34503,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 218,
49
+ "consumed_count": 217,
50
+ "last_submitted_update": 34503,
51
+ "last_consumed_update": 34344,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34503,
56
+ "completed_passes": 217,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34503,
59
+ "snapshot": "pass_end_0217",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 217,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34503,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34503,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002027470909524709,
83
+ "update_l2": 0.21554552018642426
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0018162368796765804,
91
+ "update_l2": 0.0006201192736625671
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.301521064713597e-05,
95
+ "update_l2": 0.005767975468188524
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08572224969202423,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12087,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.10041045397520065,
117
+ "ground_restitution/effective": 0.10041045397520065,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08572224969202423,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027403471991419792,
129
+ "ssim_fused": 0.8991260528564453,
130
+ "seg_l1": 0.02930535189807415,
131
+ "seg_ssim_ref": 0.8991245031356812,
132
+ "depth": 0.005301778854367084,
133
+ "rgb_loss": 0.04209757223725319,
134
+ "seg_loss": 0.04361937940120697,
135
+ "total": 0.08572224969202423
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03715018555521965,
141
+ "ssim_fused": 0.8830254673957825,
142
+ "seg_l1": 0.03172553330659866,
143
+ "seg_ssim_ref": 0.883024275302887,
144
+ "depth": 0.00848593944887359,
145
+ "rgb_loss": 0.053115054965019226,
146
+ "seg_loss": 0.0487755723297596,
147
+ "total": 0.1018991095089374,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00848593944887359,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005633961367276367
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03594736009836197,
174
+ "ssim_fused": 0.8725408911705017,
175
+ "seg_l1": 0.04716339334845543,
176
+ "seg_ssim_ref": 0.8725388646125793,
177
+ "depth": 0.005863499817710835,
178
+ "rgb_loss": 0.05424971133470535,
179
+ "seg_loss": 0.06322294473648071,
180
+ "total": 0.11747851957100378,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005863499817710835,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004419979852433058
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017726914957165718,
207
+ "ssim_fused": 0.9251883625984192,
208
+ "seg_l1": 0.01755177229642868,
209
+ "seg_ssim_ref": 0.9251869916915894,
210
+ "depth": 0.004048753710181142,
211
+ "rgb_loss": 0.029143858700990677,
212
+ "seg_loss": 0.029004018753767014,
213
+ "total": 0.058151926208467875,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004048753710181142,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00370735180045892
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01878943294286728,
240
+ "ssim_fused": 0.9157494306564331,
241
+ "seg_l1": 0.020780714228749275,
242
+ "seg_ssim_ref": 0.9157480001449585,
243
+ "depth": 0.0028089224407027683,
244
+ "rgb_loss": 0.0318816602230072,
245
+ "seg_loss": 0.03347497433423996,
246
+ "total": 0.06535944347968786,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0028089224407027683,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002299686329591657
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 217,
281
+ "adam_update_count": 34503
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.34166236827149987
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_c8c5b61c9e10493f84d0246c18bc3911_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 218,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34504,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 217,
300
+ "trained_intervals": 34503,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34503,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.8957648277282715,
333
+ "median": 6.542293548583984,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09979033470153809,
347
+ "median": 0.09979033470153809,
348
+ "max": 0.09979033470153809,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2622685432434082,
354
+ "median": 4.908994197845459,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05525674298405647,
361
+ "median": 693.876220703125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.533428192138672,
382
+ "median": 135.51287841796875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09979033470153809,
410
+ "median": 0.09979033470153809,
411
+ "max": 0.09979033470153809,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12088,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0218.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0218",
5
+ "executed_epochs": 218,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_5400830994724646a5feddb48d9a0844.npz",
37
+ "optimizer_file": "boundary_5400830994724646a5feddb48d9a0844_optimizer.pt",
38
+ "arrays_sha256": "739a0b04d321607bb74b9b9a46190929ad4c59bcf8ab15cb41909fd83ad95e40",
39
+ "optimizer_sha256": "02101f2cb3c7dca1f946dac07fffb39f7bd3ed726467eae1869c9c11afa0eedb",
40
+ "stage": "adam",
41
+ "completed_passes": 218,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34662,
45
+ "adam_update_count": 34662,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 219,
49
+ "consumed_count": 218,
50
+ "last_submitted_update": 34662,
51
+ "last_consumed_update": 34503,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34662,
56
+ "completed_passes": 218,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34662,
59
+ "snapshot": "pass_end_0218",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 218,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34662,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34662,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002397175267105922,
83
+ "update_l2": 0.2110675573348999
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0011043909471482038,
91
+ "update_l2": 0.00029962509870529175
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.535211362759583e-05,
95
+ "update_l2": 0.005127676762640476
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07974429686427224,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12155,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0955636128783226,
117
+ "ground_restitution/effective": 0.0955636128783226,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07974429686427224,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02481863647699356,
129
+ "ssim_fused": 0.9029366970062256,
130
+ "seg_l1": 0.026324214413762093,
131
+ "seg_ssim_ref": 0.9029351472854614,
132
+ "depth": 0.004375137985835964,
133
+ "rgb_loss": 0.03926757723093033,
134
+ "seg_loss": 0.04047234356403351,
135
+ "total": 0.07974429686427224
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03332837298512459,
141
+ "ssim_fused": 0.8883712887763977,
142
+ "seg_l1": 0.02942718006670475,
143
+ "seg_ssim_ref": 0.8883703947067261,
144
+ "depth": 0.007697695168124047,
145
+ "rgb_loss": 0.04898843914270401,
146
+ "seg_loss": 0.045867666602134705,
147
+ "total": 0.09486380344000683,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007697695168124047,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004845717086526824
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03276403248310089,
174
+ "ssim_fused": 0.8781307935714722,
175
+ "seg_l1": 0.042603157460689545,
176
+ "seg_ssim_ref": 0.8781288862228394,
177
+ "depth": 0.004651244355173419,
178
+ "rgb_loss": 0.0505850687623024,
179
+ "seg_loss": 0.058456748723983765,
180
+ "total": 0.10904646873064133,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004651244355173419,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0032077243898956413
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.016796717420220375,
207
+ "ssim_fused": 0.9249541759490967,
208
+ "seg_l1": 0.016299137845635414,
209
+ "seg_ssim_ref": 0.924952507019043,
210
+ "depth": 0.003225208684089076,
211
+ "rgb_loss": 0.028446540236473083,
212
+ "seg_loss": 0.028048809617757797,
213
+ "total": 0.05649857506291497,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003225208684089076,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.002883806774366854
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.016385432332754135,
240
+ "ssim_fused": 0.9202904105186462,
241
+ "seg_l1": 0.01696738414466381,
242
+ "seg_ssim_ref": 0.9202888011932373,
243
+ "depth": 0.0019264037359573156,
244
+ "rgb_loss": 0.02905026450753212,
245
+ "seg_loss": 0.029516147449612617,
246
+ "total": 0.05856834022352585,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019264037359573156,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001417167624846204
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 218,
281
+ "adam_update_count": 34662
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32166809402406216
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_5400830994724646a5feddb48d9a0844_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 219,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34663,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 218,
300
+ "trained_intervals": 34662,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34662,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.9067795276641846,
333
+ "median": 6.532998561859131,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09526398777961731,
347
+ "median": 0.09526398777961731,
348
+ "max": 0.09526398777961731,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2728755474090576,
354
+ "median": 4.91999626159668,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.054651450365781784,
361
+ "median": 687.45654296875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.5711066722869873,
382
+ "median": 137.00445556640625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09526398777961731,
410
+ "median": 0.09526398777961731,
411
+ "max": 0.09526398777961731,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12157,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0219.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0219",
5
+ "executed_epochs": 219,
6
+ "score": null,
7
+ "best_score": 0.0658877442946571,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_6a38a0b5141d422e9b87f2d822137377.npz",
37
+ "optimizer_file": "boundary_6a38a0b5141d422e9b87f2d822137377_optimizer.pt",
38
+ "arrays_sha256": "2109d1952d3788206e00d5a2aefa0aa6a3d11d075c18f8beda76d0391dfa33c1",
39
+ "optimizer_sha256": "3154fb97084d62514f628716ffc0f610cbd2b88429b9cd96225e63f099c59bd4",
40
+ "stage": "adam",
41
+ "completed_passes": 219,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34821,
45
+ "adam_update_count": 34821,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 220,
49
+ "consumed_count": 219,
50
+ "last_submitted_update": 34821,
51
+ "last_consumed_update": 34662,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34821,
56
+ "completed_passes": 219,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34821,
59
+ "snapshot": "pass_end_0219",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 33231,
67
+ "pass_science": {
68
+ "completed_passes": 219,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34821,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34821,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00018087809439748526,
83
+ "update_l2": 0.19969940185546875
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0016722888685762882,
91
+ "update_l2": 4.5202672481536865e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8325794371776283e-05,
95
+ "update_l2": 0.014026534743607044
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08160562432312615,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12218,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07464322447776794,
117
+ "ground_restitution/effective": 0.07464322447776794,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08160562432312615,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.025632530450820923,
129
+ "ssim_fused": 0.9025938510894775,
130
+ "seg_l1": 0.02766513079404831,
131
+ "seg_ssim_ref": 0.9025924205780029,
132
+ "depth": 0.004753386017153485,
133
+ "rgb_loss": 0.039987243711948395,
134
+ "seg_loss": 0.0416136272251606,
135
+ "total": 0.08160562432312615
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03357106074690819,
141
+ "ssim_fused": 0.8886515498161316,
142
+ "seg_l1": 0.02968171425163746,
143
+ "seg_ssim_ref": 0.8886503577232361,
144
+ "depth": 0.007825886495863993,
145
+ "rgb_loss": 0.04912653937935829,
146
+ "seg_loss": 0.04601529985666275,
147
+ "total": 0.0951496688478072,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007825886495863993,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004973908414266772
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03256512060761452,
174
+ "ssim_fused": 0.8813644647598267,
175
+ "seg_l1": 0.04208240285515785,
176
+ "seg_ssim_ref": 0.8813626766204834,
177
+ "depth": 0.0047516355059259675,
178
+ "rgb_loss": 0.04977920651435852,
179
+ "seg_loss": 0.0573933869600296,
180
+ "total": 0.10717734510989405,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0047516355059259675,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0033081155406481893
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.018407683819532394,
207
+ "ssim_fused": 0.9230344891548157,
208
+ "seg_l1": 0.019590040668845177,
209
+ "seg_ssim_ref": 0.9230328798294067,
210
+ "depth": 0.004020906434184354,
211
+ "rgb_loss": 0.03011924959719181,
212
+ "seg_loss": 0.031065456569194794,
213
+ "total": 0.06118872521017564,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004020906434184354,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003679504524462132
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017986249178647995,
240
+ "ssim_fused": 0.9173251390457153,
241
+ "seg_l1": 0.01930636540055275,
242
+ "seg_ssim_ref": 0.917323648929596,
243
+ "depth": 0.002415115632639628,
244
+ "rgb_loss": 0.03092397376894951,
245
+ "seg_loss": 0.03198036551475525,
246
+ "total": 0.06290675812462769,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002415115632639628,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0019058795215285175
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 219,
281
+ "adam_update_count": 34821
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3301435229368508
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_6a38a0b5141d422e9b87f2d822137377_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 220,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34822,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 219,
300
+ "trained_intervals": 34821,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34821,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.9228758811950684,
333
+ "median": 6.523314476013184,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07459802180528641,
347
+ "median": 0.07459802180528641,
348
+ "max": 0.07459802180528641,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.252578854560852,
354
+ "median": 4.905902862548828,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.05377880483865738,
361
+ "median": 680.8310546875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.4993555545806885,
382
+ "median": 135.08494567871094,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07459802180528641,
410
+ "median": 0.07459802180528641,
411
+ "max": 0.07459802180528641,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12219,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0220.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0220",
5
+ "executed_epochs": 220,
6
+ "score": null,
7
+ "best_score": 0.06574418306004869,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_60ce87d3f9444125953a51244644a907.npz",
37
+ "optimizer_file": "boundary_60ce87d3f9444125953a51244644a907_optimizer.pt",
38
+ "arrays_sha256": "2155a192eb0d5359562eae489d7834cc46acf43bb0f2de92c0ac89a5b57fe861",
39
+ "optimizer_sha256": "85f6681a98f7592141d9c04235f63f4c38ff1a19de40da2a64f1233cf4e8fc03",
40
+ "stage": "adam",
41
+ "completed_passes": 220,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 34980,
45
+ "adam_update_count": 34980,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 221,
49
+ "consumed_count": 220,
50
+ "last_submitted_update": 34980,
51
+ "last_consumed_update": 34821,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 34980,
56
+ "completed_passes": 220,
57
+ "next_interval": 0,
58
+ "trained_intervals": 34980,
59
+ "snapshot": "pass_end_0220",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 34821,
67
+ "pass_science": {
68
+ "completed_passes": 220,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 34980,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 34980,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00020632038649637252,
83
+ "update_l2": 0.22657407820224762
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.002449789782986045,
91
+ "update_l2": 0.000824660062789917
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.04023339797277e-05,
95
+ "update_l2": 0.011222592554986477
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08465508271009796,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12262,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07875026017427444,
117
+ "ground_restitution/effective": 0.07875026017427444,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08465508271009796,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.0267951637506485,
129
+ "ssim_fused": 0.8994104862213135,
130
+ "seg_l1": 0.02872208133339882,
131
+ "seg_ssim_ref": 0.8994088768959045,
132
+ "depth": 0.005160383890809026,
133
+ "rgb_loss": 0.0415540374815464,
134
+ "seg_loss": 0.04309588670730591,
135
+ "total": 0.08465508271009796
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03568222001194954,
141
+ "ssim_fused": 0.8842582702636719,
142
+ "seg_l1": 0.03061554580926895,
143
+ "seg_ssim_ref": 0.8842570781707764,
144
+ "depth": 0.008301998263311882,
145
+ "rgb_loss": 0.051694124937057495,
146
+ "seg_loss": 0.047641023993492126,
147
+ "total": 0.09934345092881293,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008301998263311882,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005450020181714661
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03501524031162262,
174
+ "ssim_fused": 0.8735049366950989,
175
+ "seg_l1": 0.045816220343112946,
176
+ "seg_ssim_ref": 0.8735029697418213,
177
+ "depth": 0.005630172290439304,
178
+ "rgb_loss": 0.05331120640039444,
179
+ "seg_loss": 0.0619523823261261,
180
+ "total": 0.11526921889881098,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005630172290439304,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004186652325161526
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.017588652670383453,
207
+ "ssim_fused": 0.9248959422111511,
208
+ "seg_l1": 0.017393071204423904,
209
+ "seg_ssim_ref": 0.924894392490387,
210
+ "depth": 0.003956404048937838,
211
+ "rgb_loss": 0.029091734439134598,
212
+ "seg_loss": 0.02893557958304882,
213
+ "total": 0.05803126856358721,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.003956404048937838,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0036150021392156164
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01889454945921898,
240
+ "ssim_fused": 0.914982795715332,
241
+ "seg_l1": 0.021063491702079773,
242
+ "seg_ssim_ref": 0.9149811863899231,
243
+ "depth": 0.0027529609605470773,
244
+ "rgb_loss": 0.03211908042430878,
245
+ "seg_loss": 0.03385455906391144,
246
+ "total": 0.06597639244918076,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0027529609605470773,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0022437248494359663
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 220,
281
+ "adam_update_count": 34980
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.34845174476504326
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_60ce87d3f9444125953a51244644a907_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 221,
293
+ "next_interval": 0,
294
+ "next_adam_update": 34981,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 220,
300
+ "trained_intervals": 34980,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 34980,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.9408175945281982,
333
+ "median": 6.522132873535156,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07792560011148453,
347
+ "median": 0.07792560011148453,
348
+ "max": 0.07792560011148453,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2523361444473267,
354
+ "median": 4.8918256759643555,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.052822522819042206,
361
+ "median": 680.027099609375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.498506546020508,
382
+ "median": 133.19674682617188,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07792560011148453,
410
+ "median": 0.07792560011148453,
411
+ "max": 0.07792560011148453,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12262,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0221.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0221",
5
+ "executed_epochs": 221,
6
+ "score": null,
7
+ "best_score": 0.06559638389011256,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_e80edb214e7f4637a9b95bb0252a1ea6.npz",
37
+ "optimizer_file": "boundary_e80edb214e7f4637a9b95bb0252a1ea6_optimizer.pt",
38
+ "arrays_sha256": "8a779773e6ecf943942bca1abfda3aeece65f2504d7e9df9687339d3ef0c875c",
39
+ "optimizer_sha256": "b5428977b0b0292ab7c10f769b317097c870bd64a5492c82c71e35566d63fe27",
40
+ "stage": "adam",
41
+ "completed_passes": 221,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 35139,
45
+ "adam_update_count": 35139,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 222,
49
+ "consumed_count": 221,
50
+ "last_submitted_update": 35139,
51
+ "last_consumed_update": 34980,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 35139,
56
+ "completed_passes": 221,
57
+ "next_interval": 0,
58
+ "trained_intervals": 35139,
59
+ "snapshot": "pass_end_0221",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 34980,
67
+ "pass_science": {
68
+ "completed_passes": 221,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 35139,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 35139,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00020725985814351588,
83
+ "update_l2": 0.204745352268219
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0020250659435987473,
91
+ "update_l2": 0.00083179771900177
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.336730878800154e-05,
95
+ "update_l2": 0.005499993450939655
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08511729268116086,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12323,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08061115443706512,
117
+ "ground_restitution/effective": 0.08061115443706512,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08511729268116086,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.027092432603240013,
129
+ "ssim_fused": 0.8993926048278809,
130
+ "seg_l1": 0.02899356558918953,
131
+ "seg_ssim_ref": 0.8993909955024719,
132
+ "depth": 0.005220153752269593,
133
+ "rgb_loss": 0.04179542139172554,
134
+ "seg_loss": 0.04331665486097336,
135
+ "total": 0.08511729268116086
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.036293093115091324,
141
+ "ssim_fused": 0.8838106989860535,
142
+ "seg_l1": 0.030688880011439323,
143
+ "seg_ssim_ref": 0.8838093280792236,
144
+ "depth": 0.008236440126016969,
145
+ "rgb_loss": 0.052272334694862366,
146
+ "seg_loss": 0.04778923839330673,
147
+ "total": 0.10006980952829511,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.008236440126016969,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005384462044419747
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03507377952337265,
174
+ "ssim_fused": 0.8740026354789734,
175
+ "seg_l1": 0.045883964747190475,
176
+ "seg_ssim_ref": 0.8740006685256958,
177
+ "depth": 0.005667191459034673,
178
+ "rgb_loss": 0.0532584972679615,
179
+ "seg_loss": 0.06190703809261322,
180
+ "total": 0.11517119882674345,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005667191459034673,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004223671493756896
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01780080422759056,
207
+ "ssim_fused": 0.9249482750892639,
208
+ "seg_l1": 0.01777949556708336,
209
+ "seg_ssim_ref": 0.9249467253684998,
210
+ "depth": 0.004106602675872597,
211
+ "rgb_loss": 0.029250988736748695,
212
+ "seg_loss": 0.029234252870082855,
213
+ "total": 0.05848934634686227,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004106602675872597,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.003765200766150374
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01920204423367977,
240
+ "ssim_fused": 0.9148088693618774,
241
+ "seg_l1": 0.021621929481625557,
242
+ "seg_ssim_ref": 0.9148073196411133,
243
+ "depth": 0.00287038074815413,
244
+ "rgb_loss": 0.03239986300468445,
245
+ "seg_loss": 0.03433608263731003,
246
+ "total": 0.06673881602274263,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.00287038074815413,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.002361144637043018
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 221,
281
+ "adam_update_count": 35139
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32536415942013264
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_e80edb214e7f4637a9b95bb0252a1ea6_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 222,
293
+ "next_interval": 0,
294
+ "next_adam_update": 35140,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 221,
300
+ "trained_intervals": 35139,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 35139,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -2.977073907852173,
333
+ "median": 6.521379470825195,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07977935671806335,
347
+ "median": 0.07977935671806335,
348
+ "max": 0.07977935671806335,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2573992013931274,
354
+ "median": 4.8916850090026855,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.050941672176122665,
361
+ "median": 679.51513671875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.5162644386291504,
382
+ "median": 133.17779541015625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07977935671806335,
410
+ "median": 0.07977935671806335,
411
+ "max": 0.07977935671806335,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12323,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0222.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0222",
5
+ "executed_epochs": 222,
6
+ "score": null,
7
+ "best_score": 0.06559638389011256,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_439984fa43d94178907dd0c05d72b7e3.npz",
37
+ "optimizer_file": "boundary_439984fa43d94178907dd0c05d72b7e3_optimizer.pt",
38
+ "arrays_sha256": "a969acbe4b180c5f48c12aab62f214d9a9ccce76487bec41f076fc14e9c8d441",
39
+ "optimizer_sha256": "e58d2683552fd78e63e49ea64906f624c0bed43807d030c34812d3476cfcc080",
40
+ "stage": "adam",
41
+ "completed_passes": 222,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 35298,
45
+ "adam_update_count": 35298,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 223,
49
+ "consumed_count": 222,
50
+ "last_submitted_update": 35298,
51
+ "last_consumed_update": 35139,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 35298,
56
+ "completed_passes": 222,
57
+ "next_interval": 0,
58
+ "trained_intervals": 35298,
59
+ "snapshot": "pass_end_0222",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 34980,
67
+ "pass_science": {
68
+ "completed_passes": 222,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 35298,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 35298,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00019167124992236495,
83
+ "update_l2": 0.2077426165342331
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0020808305125683546,
91
+ "update_l2": 0.0007958263158798218
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.068780279136263e-05,
95
+ "update_l2": 0.005496482364833355
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08419763987555437,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12386,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0873710960149765,
117
+ "ground_restitution/effective": 0.0873710960149765,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08419763987555437,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02682630531489849,
129
+ "ssim_fused": 0.9001697301864624,
130
+ "seg_l1": 0.028498902916908264,
131
+ "seg_ssim_ref": 0.9001681208610535,
132
+ "depth": 0.005049087547592127,
133
+ "rgb_loss": 0.04142709821462631,
134
+ "seg_loss": 0.04276549443602562,
135
+ "total": 0.08419763987555437
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03641896694898605,
141
+ "ssim_fused": 0.8841858506202698,
142
+ "seg_l1": 0.031036214902997017,
143
+ "seg_ssim_ref": 0.8841845393180847,
144
+ "depth": 0.00817415243634579,
145
+ "rgb_loss": 0.05229800194501877,
146
+ "seg_loss": 0.04799206554889679,
147
+ "total": 0.1002982416463519,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00817415243634579,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005322174354748567
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.0353199727833271,
174
+ "ssim_fused": 0.8737233281135559,
175
+ "seg_l1": 0.04614430293440819,
176
+ "seg_ssim_ref": 0.8737212419509888,
177
+ "depth": 0.005554776826284102,
178
+ "rgb_loss": 0.05351131409406662,
179
+ "seg_loss": 0.062171198427677155,
180
+ "total": 0.11568806729857006,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.005554776826284102,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.004111256861006324
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01727372780442238,
207
+ "ssim_fused": 0.9260470867156982,
208
+ "seg_l1": 0.016805004328489304,
209
+ "seg_ssim_ref": 0.9260456562042236,
210
+ "depth": 0.00382734780129692,
211
+ "rgb_loss": 0.028609564527869225,
212
+ "seg_loss": 0.028234872967004776,
213
+ "total": 0.05684826298003015,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00382734780129692,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0034859458915746976
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01829255186021328,
240
+ "ssim_fused": 0.9167226552963257,
241
+ "seg_l1": 0.0200100839138031,
242
+ "seg_ssim_ref": 0.9167211651802063,
243
+ "depth": 0.0026400731264416954,
244
+ "rgb_loss": 0.03128951042890549,
245
+ "seg_loss": 0.03266383707523346,
246
+ "total": 0.0639559875772654,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0026400731264416954,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0021308370153305845
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 222,
281
+ "adam_update_count": 35298
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32544389367103577
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_439984fa43d94178907dd0c05d72b7e3_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 223,
293
+ "next_interval": 0,
294
+ "next_adam_update": 35299,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 222,
300
+ "trained_intervals": 35298,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 35298,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -3.0048868656158447,
333
+ "median": 6.51692533493042,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08657526969909668,
347
+ "median": 0.08657526969909668,
348
+ "max": 0.08657526969909668,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2542312145233154,
354
+ "median": 4.902069091796875,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.049544356763362885,
361
+ "median": 676.4952392578125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.5051426887512207,
382
+ "median": 134.56980895996094,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08657526969909668,
410
+ "median": 0.08657526969909668,
411
+ "max": 0.08657526969909668,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12386,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0223.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0223",
5
+ "executed_epochs": 223,
6
+ "score": null,
7
+ "best_score": 0.06559638389011256,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_3e61d158138347b9b8cebe5e9ae11f54.npz",
37
+ "optimizer_file": "boundary_3e61d158138347b9b8cebe5e9ae11f54_optimizer.pt",
38
+ "arrays_sha256": "63383bf8be090b7e6769d616dbc4c191fe1b68a71e9ac01aa894f89c55d7a1bb",
39
+ "optimizer_sha256": "67027429f757d52b7e91cca5fbf535dc5cb81afa4919c18161615313cbc394de",
40
+ "stage": "adam",
41
+ "completed_passes": 223,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 35457,
45
+ "adam_update_count": 35457,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 224,
49
+ "consumed_count": 223,
50
+ "last_submitted_update": 35457,
51
+ "last_consumed_update": 35298,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 35457,
56
+ "completed_passes": 223,
57
+ "next_interval": 0,
58
+ "trained_intervals": 35457,
59
+ "snapshot": "pass_end_0223",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 34980,
67
+ "pass_science": {
68
+ "completed_passes": 223,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 35457,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 35457,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00019181582320015877,
83
+ "update_l2": 0.20124748349189758
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.002580551430583,
91
+ "update_l2": 0.0007911548018455505
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.73408074665349e-05,
95
+ "update_l2": 0.005292705725878477
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08248027691462942,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12442,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08680584281682968,
117
+ "ground_restitution/effective": 0.08680584281682968,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08248027691462942,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.026296254247426987,
129
+ "ssim_fused": 0.9017286896705627,
130
+ "seg_l1": 0.027662009000778198,
131
+ "seg_ssim_ref": 0.9017270803451538,
132
+ "depth": 0.004818642827943517,
133
+ "rgb_loss": 0.04069126397371292,
134
+ "seg_loss": 0.041784197092056274,
135
+ "total": 0.08248027691462942
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.036260440945625305,
141
+ "ssim_fused": 0.885357141494751,
142
+ "seg_l1": 0.031076103448867798,
143
+ "seg_ssim_ref": 0.8853557109832764,
144
+ "depth": 0.00813050959569415,
145
+ "rgb_loss": 0.05193692445755005,
146
+ "seg_loss": 0.047789741307497025,
147
+ "total": 0.09973479254935247,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.00813050959569415,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.005278531514096928
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03512805327773094,
174
+ "ssim_fused": 0.8741769790649414,
175
+ "seg_l1": 0.04578445479273796,
176
+ "seg_ssim_ref": 0.8741750121116638,
177
+ "depth": 0.0053560469520423145,
178
+ "rgb_loss": 0.05326704680919647,
179
+ "seg_loss": 0.061792559921741486,
180
+ "total": 0.11506496277789,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0053560469520423145,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.003912526986764537
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.0166550874710083,
207
+ "ssim_fused": 0.9273037910461426,
208
+ "seg_l1": 0.015706436708569527,
209
+ "seg_ssim_ref": 0.9273022413253784,
210
+ "depth": 0.0034552304655867112,
211
+ "rgb_loss": 0.027863312512636185,
212
+ "seg_loss": 0.027104701846837997,
213
+ "total": 0.054971469589939766,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0034552304655867112,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0031138285558644885
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01714142970740795,
240
+ "ssim_fused": 0.920076847076416,
241
+ "seg_l1": 0.018081042915582657,
242
+ "seg_ssim_ref": 0.9200752973556519,
243
+ "depth": 0.0023327842984508934,
244
+ "rgb_loss": 0.029697773978114128,
245
+ "seg_loss": 0.030449775978922844,
246
+ "total": 0.060149882741335425,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0023327842984508934,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0018235481873397816
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 223,
281
+ "adam_update_count": 35457
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3210411202162504
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_3e61d158138347b9b8cebe5e9ae11f54_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 224,
293
+ "next_interval": 0,
294
+ "next_adam_update": 35458,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 223,
300
+ "trained_intervals": 35457,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 35457,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -3.0176897048950195,
333
+ "median": 6.510987281799316,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08601468801498413,
347
+ "median": 0.08601468801498413,
348
+ "max": 0.08601468801498413,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2331712245941162,
354
+ "median": 4.892969608306885,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.048914093524217606,
361
+ "median": 672.489990234375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.432096242904663,
382
+ "median": 133.34970092773438,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08601468801498413,
410
+ "median": 0.08601468801498413,
411
+ "max": 0.08601468801498413,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12442,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0224.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0224",
5
+ "executed_epochs": 224,
6
+ "score": null,
7
+ "best_score": 0.06559638389011256,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_c54311c240a3495a95a2fd1bbfe55155.npz",
37
+ "optimizer_file": "boundary_c54311c240a3495a95a2fd1bbfe55155_optimizer.pt",
38
+ "arrays_sha256": "385a9c3586a932d0536a11414fb6bfef2fe31a4ae4d08cb9e8470401c11e1961",
39
+ "optimizer_sha256": "e256db407950f5c094f939a1c9c4cdc6568c47267c97aae164fad5f448cf9914",
40
+ "stage": "adam",
41
+ "completed_passes": 224,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 35616,
45
+ "adam_update_count": 35616,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 225,
49
+ "consumed_count": 224,
50
+ "last_submitted_update": 35616,
51
+ "last_consumed_update": 35457,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 35616,
56
+ "completed_passes": 224,
57
+ "next_interval": 0,
58
+ "trained_intervals": 35616,
59
+ "snapshot": "pass_end_0224",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 34980,
67
+ "pass_science": {
68
+ "completed_passes": 224,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 35616,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 35616,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.000300770130706951,
83
+ "update_l2": 0.17093776166439056
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.001825567684136331,
91
+ "update_l2": 0.00040581077337265015
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.4499313187552616e-05,
95
+ "update_l2": 0.00899808295071125
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.08248850763712362,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 12513,
109
+ "attachment": 45,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07433480024337769,
117
+ "ground_restitution/effective": 0.07433480024337769,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.08248850763712362,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02585526555776596,
129
+ "ssim_fused": 0.9016892313957214,
130
+ "seg_l1": 0.028093455359339714,
131
+ "seg_ssim_ref": 0.9016878008842468,
132
+ "depth": 0.004948721568154804,
133
+ "rgb_loss": 0.040346357971429825,
134
+ "seg_loss": 0.042137205600738525,
135
+ "total": 0.08248850763712362
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03334907069802284,
141
+ "ssim_fused": 0.8891809582710266,
142
+ "seg_l1": 0.029428379610180855,
143
+ "seg_ssim_ref": 0.889180064201355,
144
+ "depth": 0.007980512262000443,
145
+ "rgb_loss": 0.04884306341409683,
146
+ "seg_loss": 0.04570668935775757,
147
+ "total": 0.0945577332841164,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007980512262000443,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.0051285341804032224
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03346921503543854,
174
+ "ssim_fused": 0.8783261775970459,
175
+ "seg_l1": 0.04358533397316933,
176
+ "seg_ssim_ref": 0.8783243894577026,
177
+ "depth": 0.0051204433464271835,
178
+ "rgb_loss": 0.05111013725399971,
179
+ "seg_loss": 0.059203386306762695,
180
+ "total": 0.11031864027881853,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0051204433464271835,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0036769233811494067
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01867365837097168,
207
+ "ssim_fused": 0.9218746423721313,
208
+ "seg_l1": 0.019889695569872856,
209
+ "seg_ssim_ref": 0.9218730926513672,
210
+ "depth": 0.004191790701772293,
211
+ "rgb_loss": 0.030563998967409134,
212
+ "seg_loss": 0.03153713792562485,
213
+ "total": 0.06210532868373576,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.004191790701772293,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0038503887920500715
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.017929119989275932,
240
+ "ssim_fused": 0.9173753261566162,
241
+ "seg_l1": 0.01947040669620037,
242
+ "seg_ssim_ref": 0.9173736572265625,
243
+ "depth": 0.002502139962419298,
244
+ "rgb_loss": 0.030868232250213623,
245
+ "seg_loss": 0.0321015939116478,
246
+ "total": 0.06297232830182384,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.002502139962419298,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001992903851308187
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 224,
281
+ "adam_update_count": 35616
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3461839063093066
286
+ },
287
+ "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_c54311c240a3495a95a2fd1bbfe55155_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 225,
293
+ "next_interval": 0,
294
+ "next_adam_update": 35617,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 224,
300
+ "trained_intervals": 35616,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 35616,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -3.0273776054382324,
333
+ "median": 6.500828266143799,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07392898947000504,
347
+ "median": 0.07392898947000504,
348
+ "max": 0.07392898947000504,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": 1.2321254014968872,
354
+ "median": 4.881186485290527,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.04844250902533531,
361
+ "median": 665.6927490234375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 3.4285085201263428,
382
+ "median": 131.78759765625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07392898947000504,
410
+ "median": 0.07392898947000504,
411
+ "max": 0.07392898947000504,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 12513,
420
+ "controller_edge_stiffness": 45
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }