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"champion_gen": 209, + "champion_score": 0.0006311, + "champion_obs": 0.0004008, + "center_score": 0.002169, + "bound_hugging": "spring_y 99957 (upper), drag 19.999 (upper), dashpot 199.5 (upper), ground_restitution 0.023" + }, + "frozen": { + "c0000": 0.0004008, + "c0010": 0.0002743, + "c0100": 0.000215, + "BEST": "c0499 1.8263e-4", + "FINAL": "c0500 1.8304e-4" + }, + "roster": "501/501 finite, all trajectories retained", + "storage_GB": 14, + "wandb": "7a6f3b559e524c60 finished, 183029 records" + }, + "handoff": { + "best_inputs_min": 0.2, + "scan_min": 33.6, + "binding_review_min": 0.1, + "appearance_review_min": 5.8, + "scan": { + "scores": 69, + "coarse": 51, + "coarse_winner": "c0120", + "refinement": [ + 111, + 129 + ], + "selected": "c0123", + "P0": 0.007107724946232781, + "ties": [ + 123 + ], + "boundary_hits": [], + "c0000": 0.007637, + "range_after_c0010": "0.007108-0.007241" + }, + "storage_GB": 1.1 + }, + "photometric_qualification": { + "updates": 628, + "above_target": 0, + "at_target": 1801, + "max_raw": 11.512925, + "peak_gpu_device_MiB": 6450, + "peak_rss_MiB": 17301, + "phases_s": { + "A": 110, + "B1": 40, + "B2_trainer": 105, + "overlap_c0002": 120, + "C": 6 + }, + "label_note": "driver phase label 'B2_train_resume_984' is a stale refit_06 name; argv is --stop-after-updates 628" + }, + "photometric": { + "launched_utc": "2026-10-15T05:09:15Z", + "wandb": "a7f98853a7ec48b7" + } +} \ No newline at end of file diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/execute_task.py b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/execute_task.py new file mode 100644 index 0000000000000000000000000000000000000000..0edee0b04047df01c7672385984a24619681692a --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/execute_task.py @@ -0,0 +1,44 @@ +"""U08c D3 lab B photometric stages around existing owners; saved science precedes auxiliary delivery.""" +import json +from pathlib import Path +import subprocess +import time + +ROOT = Path(__file__).resolve().parent +CONFIG = json.loads((ROOT / 'run_config.json').read_text()) +CWD = Path(CONFIG['cwd']) +FULL = Path(CONFIG['full_root']) +PYTHON = CONFIG['python'] +DELIVERY = ROOT / 'delivery' + +def run(stage, argv): + state = dict(stage=stage, status='running', argv=[str(a) for a in argv], started_unix_s=time.time()) + (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2)) + with (ROOT / (stage + '.log')).open('a') as log: + result = subprocess.run(state['argv'], cwd=CWD, stdout=log, stderr=subprocess.STDOUT) + state.update(status='complete' if result.returncode == 0 else 'failed', exit_status=result.returncode, + finished_unix_s=time.time()) + (ROOT / (stage + '_state.json')).write_text(json.dumps(state, indent=2)) + (ROOT / 'task_state.json').write_text(json.dumps(state, indent=2)) + return result.returncode + +code = 0 +if not (FULL / 'adam/best.json').exists(): + code = run('photometric', [FULL / 'launch_rt5.sh', 'resume' if (FULL / 'attempts').exists() else 'start']) +attempt = json.loads(sorted((FULL / 'attempts').glob('*.json'))[-1].read_text()) +if not (FULL / 'adam/training_complete.json').exists() or not (FULL / 'adam/best.json').exists(): + raise SystemExit(code or 1) +# Numeric delivery can succeed even if auxiliary telemetry shutdown failed. +if run('science_delivery', [PYTHON, ROOT / 'deliver_science.py']): + raise SystemExit(1) +for stage, command, extra in ( + ('analyze', 'analyze', []), + ('role_media', 'render', ['--result-root', CONFIG['result_root'], '--rt-contract', CONFIG['rt_contract'], + '--device', CONFIG['device']]), + ('graph', 'graph', []), +): + if run(stage, [PYTHON, 'scripts/real_rgbd_photometric_report.py', command, '--run-dir', FULL / 'adam', + '--cma-run-dir', FULL / 'cma', '--output', DELIVERY / stage, *extra]): + raise SystemExit(1) +(ROOT / 'task_state.json').write_text(json.dumps(dict(stage='delivery', status='complete', + scientific_attempt_status=attempt['status'], launcher_exit_status=code, finished_unix_s=time.time()), indent=2)) diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/prepare_full.py b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/prepare_full.py new file mode 100644 index 0000000000000000000000000000000000000000..843219c10df4f25abb9f610838602c7641922e5a --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/prepare_full.py @@ -0,0 +1,70 @@ +"""U08c D3 lab B: bind the photometric campaign through existing native readers; no scoring here.""" +from pathlib import Path +import json +import subprocess +import torch +import fused_ssim +import fused_ssim_cuda +from gsplat.cuda._backend import _C +from belt_perception.real_rgbd.photometric_cma import load_inputs +from belt_perception.real_rgbd.photometric_baseline import read_rt_p0_baseline +from belt_perception.real_rgbd.model_io import sha256_file + +ROOT = Path(__file__).resolve().parent +CWD = Path('/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014') +SESSION = Path('/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native') +TASK = ROOT.parent +TRACK = TASK / 'tracking' +CONTRACT = TASK / 'handoff/scan/contract.json' +SCAN = json.loads((TASK / 'handoff/scan/selection.json').read_text()) +FULL = ROOT / 'full_fit_01' +qual = json.loads((ROOT / 'qualification/driver_summary.json').read_text()) +assert qual['error'] is None and not qual['children_alive_at_end'], qual +assert qual['projection']['updates'] == 628 and qual['projection']['above_target'] == 0, qual +assert {'c0001', 'c0002'} <= set(qual['final_counts']['evaluated']), qual +test_log = (TASK / 'setup/exec_focused_tests_8c03605e.log').read_text() +assert '97 passed' in test_log and ' failed' not in test_log +parent, _, binding, inputs = load_inputs(SESSION, 'cuda:0', rt_contract=CONTRACT) +arrays, p0, _ = read_rt_p0_baseline(parent, inputs, transitions=parent.init.K) +assert inputs['parent']['candidate'] == SCAN['candidate'] and inputs['parent']['selection']['role'] == 'scan_selected' +assert parent.init.num_all == 748 and parent.init.K == 313 +assert p0['P0'] == SCAN['score'] +runtime = dict(fused_ssim_module=fused_ssim.__file__, fused_ssim_binary=fused_ssim_cuda.__file__, + fused_ssim_wrapper_sha256=sha256_file(fused_ssim.__file__), + fused_ssim_binary_sha256=sha256_file(fused_ssim_cuda.__file__), + gsplat_binary=_C.__file__, gsplat_binary_sha256=sha256_file(_C.__file__)) +for field in ('fused_ssim_wrapper_sha256', 'fused_ssim_binary_sha256'): + assert runtime[field] == inputs['objective'][field] +assert runtime['gsplat_binary_sha256'] == inputs['renderer']['binary_sha256'] +props = torch.cuda.get_device_properties(torch.device('cuda:0')) +config = dict(campaign_kind='photometric', cwd=str(CWD), + revision=subprocess.check_output(['git', 'rev-parse', 'HEAD'], cwd=CWD, text=True).strip(), + python=str(CWD / '.venv/bin/python'), lock_sha256=sha256_file(CWD / 'uv.lock'), + tracking_input='lab_b_u08b_native', input_root=str(SESSION / 'supervision'), + result_root=str(SESSION), tracking_full_root=str(TRACK / 'full_fit_cma250_projadam_01'), + full_root=str(FULL), rt_contract=str(CONTRACT), rt_contract_sha256=sha256_file(CONTRACT), + photometric_inputs=inputs, transitions=313, p0_score_sha256=sha256_file(Path(inputs['rt_contract']['baseline_dir']) / 'score.json'), + observations='cache', handoff_policy='d1_atomic_single_realization_v1', device='cuda:0', eval_device='cuda:0', + device_identities={'cuda:0': dict(name=props.name, uuid=str(props.uuid), total_memory=props.total_memory)}, + cuda_visible_devices='0', concurrent_evaluator=True, candidate_width=2, + candidate_width_check=str(ROOT / 'qualification/driver_summary.json'), + photometric_coexistence_check=str(ROOT / 'qualification/driver_summary.json'), + execution_owner='Claude U08c D3 lab B owner (unified plan §8.8.19); owner authorized all compute, local site', + cp2r_revision='426a482897e87394e5d9362e4aec71e759945c2a', + cp2r_audit='docs/experiments/phystwin_cma_candidate_parallelism_cp2r_audit_20261001.md', + runner_audit='Existing RT-PHOTO-LIFECYCLE/RT-D12/RT-D15 reviews retained; lab_b_u08b_native pin and explicit B photometric inputs at '+ + subprocess.check_output(['git','rev-parse','HEAD'],cwd=CWD,text=True).strip()+ + '; 97 focused tests in this execution environment and task native qualification; independent U08c audit (§8.8.20) later', + service_preflight='', telemetry_online=False, projected_log_y=True, + tmux_server='u08c_d3_lab_b_photo_20261014', tmux_session='campaign', + run_name='u08c_d3_lab_b_photometric_scan_projadam_01') +assert config['revision'].startswith('8c03605e') +with (ROOT / 'run_config.json').open('x') as f: + json.dump(config, f, indent=2) +readiness = dict(parent_candidate=SCAN['candidate'], role='scan_selected', P0=p0['P0'], A=748, K=313, + original_p0_arrays=str(arrays), binding=inputs['rt_contract']['binding_path'], + runtime=runtime, qualification_summary=qual, code=config['revision'], + collector_identity=config['run_name'], telemetry_online=False, + appearance_findings='Admitted B RP3 limitation (loose blobs in hand-occluded regions) preserved; no remedy') +(ROOT / 'readiness.json').write_text(json.dumps(readiness, indent=2)) +print(json.dumps({k:readiness[k] for k in ('parent_candidate','role','P0','A','K','code','collector_identity','telemetry_online')},indent=2)) diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification.log new file mode 100644 index 0000000000000000000000000000000000000000..fd02425088c401f5218eb6f29a5a1c2b77e1eff3 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification.log @@ -0,0 +1,257 @@ +{ + "error": null, + "projection": { + "updates": 628, + "target": 11.512925148010254, + "max_raw": 11.512925148010254, + "above_target": 0, + "at_target": 1801, + "below_1e5": 17867 + }, + "phases_s": { + "A_cma_g1_w2": 110.02268505096436, + "B1_train_stop2": 40.00995469093323, + "B2_trainer_wall": 105.03137063980103, + "B2_overlap_until_c0002": 120.03678035736084, + "C_collector": 6.003141164779663 + }, + "events": [ + { + "event": "start", + "name": "A_cma_g1_w2", + "pid": 3507005, + "t": 1792040630.6175287, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_cma.py", + "--result-root", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native", + "--rt-contract", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/handoff/scan/contract.json", + "--observations", + "cache", + "--observation-cache", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/observation_cache/decoded", + "--run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/cma", + "--device", + "cuda:0", + "--transitions", + "313", + "--max-generations", + "1", + "--candidate-width", + "2", + "--handoff-policy", + "d1_atomic_single_realization_v1" + ] + }, + { + "event": "exit", + "name": "A_cma_g1_w2", + "pid": 3507005, + "t": 1792040740.6398797, + "code": 0 + }, + { + "event": "start", + "name": "B1_train_stop2", + "pid": 3510540, + "t": 1792040740.640268, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_adam.py", + "train", + "--run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/adam", + "--cma-run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/cma", + "--result-root", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native", + "--rt-contract", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/handoff/scan/contract.json", + "--observations", + "cache", + "--observation-cache", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/observation_cache/decoded", + "--device", + "cuda:0", + "--handoff-policy", + "d1_atomic_single_realization_v1", + "--complete-traversals", + "500", + "--checkpoint-every-updates", + "100", + "--projected-log-y", + "--stop-after-updates", + "2" + ] + }, + { + "event": "exit", + "name": "B1_train_stop2", + "pid": 3510540, + "t": 1792040780.6498647, + "code": 0 + }, + { + "event": "start", + "name": "B2_train_resume_984", + "pid": 3511723, + "t": 1792040780.6503198, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_adam.py", + "train", + "--run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/adam", + "--cma-run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/cma", + "--result-root", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native", + "--rt-contract", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/handoff/scan/contract.json", + "--observations", + "cache", + "--observation-cache", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/observation_cache/decoded", + "--device", + "cuda:0", + "--handoff-policy", + "d1_atomic_single_realization_v1", + "--complete-traversals", + "500", + "--checkpoint-every-updates", + "100", + "--projected-log-y", + "--resume", + "--stop-after-updates", + "628" + ] + }, + { + "event": "start", + "name": "B2_evaluator_follow", + "pid": 3511724, + "t": 1792040780.6506531, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_adam.py", + "evaluate-pending", + "--run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/adam", + "--cma-run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/cma", + "--result-root", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native", + "--rt-contract", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/handoff/scan/contract.json", + "--observations", + "cache", + "--observation-cache", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/observation_cache/decoded", + "--device", + "cuda:0", + "--follow", + "--poll-seconds", + "5" + ] + }, + { + "event": "exit", + "name": "B2_train_resume_984", + "pid": 3511723, + "t": 1792040885.6812375, + "code": 0 + }, + { + "event": "sigint", + "name": "B2_evaluator_follow", + "pid": 3511724, + "t": 1792040900.6866615 + }, + { + "event": "exit", + "name": "B2_evaluator_follow", + "pid": 3511724, + "t": 1792040901.4019115, + "code": -2 + }, + { + "event": "start", + "name": "C_collector_offline", + "pid": 3515922, + "t": 1792040901.40236, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_cma_telemetry.py", + "--run-dir", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/cma", + "--adam-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/adam", + "--out", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/telemetry-offline", + "--run-name", + "u08c_d3_lab_b_photometric_qualification_local_01" + ] + }, + { + "event": "exit", + "name": "C_collector_offline", + "pid": 3515922, + "t": 1792040905.4038613, + "code": 0 + }, + { + "event": "start", + "name": "C_diagnose_payload", + "pid": 3516057, + "t": 1792040905.4042923, + "argv": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/real_rgbd_photometric_cma_telemetry.py", + "--out", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/qualification/telemetry-offline", + "--diagnose-payload" + ] + }, + { + "event": "exit", + "name": "C_diagnose_payload", + "pid": 3516057, + "t": 1792040907.4050522, + "code": 0 + } + ], + "children_alive_at_end": [], + "peak_rss_mib": { + "A_cma_g1_w2": 17237.94921875, + "B1_train_stop2": 17165.80078125, + "B2_train_resume_984": 17300.84765625, + "B2_evaluator_follow": 17000.5390625, + "C_collector_offline": 757.484375, + "C_diagnose_payload": 599.265625 + }, + "max_backlog": 1, + "final_counts": { + "snapshots": [ + "c0000", + "c0001", + "c0002", + "p0000" + ], + "evaluated": [ + "c0000", + "c0001", + "c0002", + "p0000" + ] + } +} +exit=0 diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification/driver_summary.json b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification/driver_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3e441798e692f00cc16038e04ebea0a77a28cb --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/evidence/u08c_d3_lab_b_fit_20261014/photometric/qualification/driver_summary.json @@ -0,0 +1,256 @@ +{ + "error": null, + "projection": { + "updates": 628, + "target": 11.512925148010254, + "max_raw": 11.512925148010254, + "above_target": 0, + "at_target": 1801, + "below_1e5": 17867 + }, + "phases_s": { + "A_cma_g1_w2": 110.02268505096436, + "B1_train_stop2": 40.00995469093323, + "B2_trainer_wall": 105.03137063980103, + "B2_overlap_until_c0002": 120.03678035736084, + "C_collector": 6.003141164779663 + }, + "events": [ + { + "event": "start", + "name": "A_cma_g1_w2", + "pid": 3507005, + "t": 1792040630.6175287, + "argv": [ + 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interior particles", + "products": { + "raw_samples": { + "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/mechanics_v3/mesh/raw_samples.npz", + "sha256": "29eec7eba54e38b689d243b8fa581fe918d9f6aea19104dc0da525d17c7abd5b" + }, + "selection": { + "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/mechanics_v3/mesh/selection.npz", + "sha256": "73677c56c2d8f4e90f42957f26b2933cd0ad42b6f97eeca2ad4db2ee92271c6d" + }, + "initial_distances": { + "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/mechanics_v3/mesh/initial_distances.npz", + "sha256": "5d18196c408acd4fdf2675b0744c2779953c76186680e309918ea11b7d6d914c" + }, + "association": { + "path": 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"/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/fitting/fitting_observations.npz", + "sha256": "e2583f0d720f943e8da952d3df801c1c7b0054bb0baeb8d6f57071505e541eb2" + }, + "premesh_association": { + "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/fitting/fitting_association.npz", + "sha256": "4a4d0ff4934327ee4efd49f4bba53d74a7afab99ace9424921b9970329566583" + }, + "native_lifts": [ + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/lifted/lifted_12540311.npz", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/lifted/lifted_12933256.npz", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/lifted/lifted_17736741.npz", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/lifts/lifted/lifted_23007103.npz" + ], + "native_lift_sha256": [ + "296ec88210554283ccf93e2b4563c47ec99cda78e340ef7906a8da6753304e45", + "776600b0770708896ba001e1a9813002edf26512dd562bd1c80f4f5ace61eea2", + "c5389e83934cedc1b785ca200379614a9751b7e32b09f52cdd4bd63950fbe974", + "d13030b4f66d79de008448d1d44eaf5a83296cbe3853531e2aeb5fb8598f7e4e" + ] + }, + "maps": { + "target_candidate_index": { + "shape": [ + 1375 + ], + "dtype": "int64", + "sha256": "efb84df386d170ed787095a57399b2cdac68c3bf1b88d2cacd77caa1ff36c48d" + }, + "target_view_index": { + "shape": [ + 1375 + ], + "dtype": "int64", + "sha256": "860574fd7b1056e971a9b5d1fc6e2fbfd85e235aca3dab579964b0663c41662a" + }, + "target_query_id": { + "shape": [ + 1375 + ], + "dtype": "int64", + "sha256": "76317253ccc223f96506dc5139c60a2fe2f4009e2921ff3353fdc50321030e76" + }, + "target_initialization": { + "shape": [ + 1375 + ], + "dtype": "&2; exit 2 ;; esac +cd /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 +full_root=/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/full_fit_01 +export CUDA_VISIBLE_DEVICES=0 +mkdir -p "$full_root/logs" +# On a GPU exception the driver writes a small CUDA core dump (faulting kernel/PC) and then +# aborts the child, so the Python error record is not written; resume re-runs missing asks. +# No host core dump. Exit-time faults have not produced dumps (Xid 31 investigation note). +export CUDA_ENABLE_COREDUMP_ON_EXCEPTION=1 CUDA_ENABLE_CPU_COREDUMP_ON_EXCEPTION=0 +export CUDA_COREDUMP_GENERATION_FLAGS=skip_global_memory,skip_shared_memory,skip_local_memory +export CUDA_COREDUMP_FILE="$full_root/logs/cuda_core_%p_%t.nvcudmp" +exec uv run --no-sync python -u scripts/run_rt5_campaign.py "$mode" \ + --config "$full_root/campaign.json" \ + >> "$full_root/logs/supervisor-$mode-$(date -u +%Y%m%dT%H%M%S)-$$.log" 2>&1 diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-adam-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-adam-1.log new file mode 100644 index 0000000000000000000000000000000000000000..91170191d1bdda17ff9abd9aef071d39e4e1d842 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-adam-1.log @@ -0,0 +1,521 @@ +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.41 ms (cached) +Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.30 ms (cached) +Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.28 ms (cached) +Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.23 ms (cached) +Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.65 ms (cached) +Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 1.01 ms (cached) +{ + "total_updates": 156500, + "complete_traversals": 500, + "next_interval": 0, + "snapshots": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 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+ 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471, + 472, + 473, + 474, + 475, + 476, + 477, + 478, + 479, + 480, + 481, + 482, + 483, + 484, + 485, + 486, + 487, + 488, + 489, + 490, + 491, + 492, + 493, + 494, + 495, + 496, + 497, + 498, + 499, + 500 + ] +} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-cma-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-cma-1.log new file mode 100644 index 0000000000000000000000000000000000000000..ac9318c6278f6f71582a11e677cff382d7579ba4 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-cma-1.log @@ -0,0 +1,92 @@ +(4_w,8)-aCMA-ES (mu_w=2.6,w_1=52%) in dimension 4 (seed=42, Thu Oct 15 01:09:33 2026) +(4_w,8)-aCMA-ES (mu_w=2.6,w_1=52%) in dimension 4 (seed=42, Thu Oct 15 01:09:34 2026) +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.29 ms (cached) +Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.24 ms (cached) +Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.24 ms (cached) +Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.21 ms (cached) +Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.23 ms (cached) +Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.25 ms (cached) +{ + "status": "winner", + "stop_reason": "max_generations", + "native_stop": {}, + "completed_generations": 100, + "issued_asks": 800, + "told_asks": 800, + "physical_failures": 0, + "centre_repeatability": null, + "handoff_policy": "d1_atomic_single_realization_v1", + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "render_width": 1, + "packing": "none: separate Gaussian scenes, one camera per render", + "launch": "one host thread; per transition every member's dynamics is enqueued before any member is scored (CP1)", + "scoring_stream": "torch.cuda.default_stream for LBS, gsplat and both SSIM branches, after explicit endpoint and target readiness events", + "observations": "one provider traversal per wave; targets shared read-only by its members", + "warm_launch": "D3: one public wp.capture_launch of each candidate's dynamics capture during preparation" + }, + "champion": { + "generation": 72, + "ask_index": 3, + "global_ask_index": 579, + "score": 0.007086450267775741, + "observation_score": 0.007086450267775741, + "normalized": [ + 8.336217931289468e-05, + 0.9999932676043409, + 0.980284754427124, + 0.2947847928618012 + ], + "settings": { + "spring_y": 99957.09183576185, + "object_radius_m": 0.0275938187203124, + "object_max_neighbours": 49, + "controller_radius_m": 0.05176995556742765, + "controller_max_neighbours": 31, + "ground_restitution": 8.336217931289468e-05, + "ground_friction": 1.9999865352086819, + "object_restitution": 0.7834043857611097, + "object_friction": 0.7352779753195489, + "collision_distance_m": 0.02159383267399169, + "drag_damping": 39.211390177084965, + "dashpot_damping": 117.91391714472049 + } + }, + "pycma": { + "countiter": 100, + "countevals": 800, + "sigma": 0.001991453097124106, + "xbest": [ + 8.336217931289468e-05, + 0.9999932676043409, + 0.980284754427124, + 0.2947847928618012 + ], + "fbest": 0.007086450267775741, + "xbest_is_champion": true + }, + "winner": { + "model": "winner/model", + "scored_rollout": "winner/rollout.npz", + "model_sha256": "86d4dc6081a3a7b66404747a51d2b0ec25599718b7a5123abcd2c73a3d11b631" + }, + "handoff": { + "passed": null, + "report": "handoff/report.json", + "acceptance": { + "policy": "d1_atomic_single_realization_v1", + "owner_basis": "CMA candidate-parallelism plan \u00a77.2 D1, 2026-09-30", + "accepted": true + }, + "numerical_status": "finite_independent_realization_difference", + "frozen_score": 0.007086454271112274 + } +} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-collect_final-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-collect_final-1.log new file mode 100644 index 0000000000000000000000000000000000000000..e7760ef385fd2558d4c2b0c1d4d922f998d569d5 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-collect_final-1.log @@ -0,0 +1,4 @@ +{ + "events": 1, + "journal": "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/photometric/full_fit_01/telemetry-collector/telemetry/scalars.jsonl" +} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-collector-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-collector-1.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-evaluator-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-evaluator-1.log new file mode 100644 index 0000000000000000000000000000000000000000..8a8c2d78805bb40a9826dcc7378c143c85a5bac8 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-photo/native/logs/attempt-001-evaluator-1.log @@ -0,0 +1,518 @@ +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 2.01 ms (cached) +Module 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