Now archive — 2026-08-12

Aged entries rolled out of now.md verbatim (newest first).

Session notes (rolled from the utilization footer)

Session 2026-08-12 21:39Z–2026-08-13 01:1xZ (work, the chained probe ride; +3.30 GPU-h this session (run total 3.57 incl. the tick’s launch window) — anchors + cells 1/2/5 ridden in-turn, tripwire re-scope at cell-1; exploit + owner steering + lit): GRPO probe re-scoped and read out — AR t=1.0 clears the signal bar 3.1× at a cost CI including 0 (cell 2 t=1.6: 9.8× but −1.08 cm; cell 5 SDE: 7.4× at cost CI incl. 0 → BOTH families clear, AR-first). Lit 0823 (3 papers pages), wrist compositing investigated → DECIDED render-only (owner 22:31Z), sim100 amendment 4, sim-fit-real-lens-model queued. check.py 797 green × 6 commits.

Session 2026-08-12 21:30–21:4xZ (tick, babysit; GPU claimed at 21:33:58Z — probe ~2.8 GPU-h projected ≤ 3.5 gate, accrues to the riding sessions): GRPO signal probe LAUNCHED on the owner’s standing 13:36Z sequence at GPU handback (both predecessors done, no objection after the 20:06Z “rides the standing sequence” post). Launcher + babysit entry + first-poll (85% util) + launch post + queue sync, all inside the tick. run_work_next armed.

Session 2026-08-12 19:20–21:2xZ (work; +~0.88 GPU-h — seed-6 30 s rerun 0.02 + 100ep arm-A eval 0.86/1.5 gate, both ridden in-turn; exploit + owner steering): 9/100 SUCCESSES — first sim successes ever on this task (released MolmoAct2, official map, 30 s budget; every success tick past the old 15 s cutoff; INERT FULLY overturned). Owner steers executed end-to-end: --episode-seconds budget fix + seed-6 grab-confirm (amendment 2), 100-episode eval (amendment 3, batched rows watcher, results + chart + 9 videos posted). GRPO probe prep COMPLETE + finalized pre-reg posted (launch-ready on handback). check.py 797 green × commits; queue “15 replans” drift fixed; convmap post indexed.

Session 2026-08-12 05:09–05:5xZ (work, exploit; ~0.06 GPU-h foreground probe reads, gate 0.3): sim-visual-inpainting closed — pre-reg 05:15Z, clean plates + segmentation composite landed as render_style v2 (new default), registered bar MET: top 5-NN AUROC 0.876 → 0.773 vs ≤0.790 (first registered win on the axis); wrist composite honest negative (0.951, v2 keeps the v1 wrist path); homogeneity unchanged → sim-content-diversity queued (depth 2). sim100-v1-rerun gate fact now GO-with-v2-frames, still owner_hold on the pending spot-check ask. GPU otherwise idle; run_work_next armed.

Session 2026-08-12 05:04–05:1xZ (tick, babysit; 0 new GPU-h — GPU idle-by-design between the v1 close and the inpainting pre-reg): quiet tick + clock audit. Registry empty, nvidia-smi 0%/0 MiB. Discord read empty, no new reactions (owner asleep since 01:11Z; rerun spot-check ask still pending). Corrected the prior work session’s hallucinated clock (+~2 h: records claimed a 07:2xZ close, commit landed 05:03:49Z) in now.md + queue.json. Queue validate green (depth 2, 12 open); run_work_next armed → inpainting pre-reg chains next. Archive roll: 03:30 body entry + 04:05/03:30 footer notes.

Session 2026-08-12 04:09–05:0xZ (work, exploit; ~0.12 GPU-h foreground probe reads): sim-visual-matching closed — pre-reg + all appearance axes landed as render_style v1 (texture, layout, wrist re-pose, fisheye, grade, sensor, jitter), registered bar missed honestly (top 5-NN AUROC 0.890→0.876 vs ≤0.790), inpainting + wrist-periphery queued, sim100-v1-rerun flipped owner_hold with a spot-check ask in-channel. GPU otherwise idle; run_work_next armed.

Session 2026-08-12 04:05–04:1xZ (tick, babysit; 0 new GPU-h — GPU idle-by-design between the OOD-probe close and the visual-matching pre-reg): quiet tick. Registry empty, nvidia-smi 0%/0 MiB. Discord read empty; no new reactions (owner asleep since 01:11Z). Queue validate green (depth 2, 11 open); run_work_next armed → the sim-visual-matching pre-reg chains next. Archive roll: 00:40 body entry + 03:25/00:40 footer notes.

Session 2026-08-12 03:30–03:5xZ (work, exploit; ~0.02 GPU-h foreground probe): sim-encoder-ood-probe closed end-to-end — launch note, probe script + AUROC oracles, measured baseline (top 5-NN AUROC 0.885 / wrist 0.828; clean control inside the real spread), json + chart on fontaine-reports, results in-channel, reports.md section; sim100-v1-rerun queued as successor. GPU idle otherwise; run_work_next armed for the sim-visual-matching pre-reg.

Session 2026-08-12 03:25–03:3xZ (tick, babysit; 0 new GPU-h — GPU idle-by-design after the sim100 close): quiet tick. Registry empty, nvidia-smi 0%/0 MiB. Discord read empty; no new reactions (owner asleep since 01:11Z, question answered 01:30Z). Queue validate green (depth 2, 11 open); run_work_next already armed 03:25:12Z → OOD probe launch note + sim-visual-matching pre-reg chain next. Archive roll: 20:44 body entry + 20:44/00:37 footer notes (08-12 archive page started).

Session 2026-08-12 00:40–03:5xZ (work, exploit; ~2.6 GPU-h of sim100b phase 2 rode in-session, run total ~5.5 ≤ 6+4 gates): sim100 closed end-to-end — prepped report/gallery generator + engagement chart during the GPU window, posted snap30k + teacher80k numbers at their boundaries, answered the owner’s 01:11Z visual-gap question, full postprocess at rc (reads, charts, report, gallery, results post, Space pushes, queue + babysit bookkeeping). 0/500 successes; teacher misdirection = the checkpoint-quality control. Next: OOD probe → visual-matching pre-reg.

Updated 2026-08-12 04:09–05:0xZ (clock corrected by the 05:04Z tick: this entry originally claimed 07:2xZ / “real 07:15”, but the session’s commit landed 05:03:49Z and its Discord posts at 05:01–05:03Z) — work session: sim-visual-matching CLOSED end-to-end — pre-reg, every named appearance axis landed (ships as render_style="v1" default), and the registered bar was MISSED honestly: top-cam 5-NN AUROC 0.890 → 0.876 vs the ≤0.790 target. The encoder separates sim from real on signal beyond scene layout, lens geometry and color statistics; real-frame inpainting queued as the named lever.

Status: no live jobs — registry empty, nvidia-smi 0% / 0 MiB (probe reads ran foreground, ~0.12/0.5 GPU-h gate). Next items: sim-visual-inpainting + sim-wrist-periphery-fix (both CPU + probe minutes); sim100-v1-rerun flipped to owner_hold (probe gate missed; 20-seed behavioral spot-check offered in-channel — the geometry fixes change where things appear without moving encoder AUROC, er60k’s reach-over-the-table fingerprint is a pinhole-vs-fisheye signature).

Steering: none — Discord read at boot and pre-post both empty of owner messages (owner asleep since 01:11Z); their promised pre-reg posted 04:15Z, results + owner-decision ask posted 05:0xZ.

Done: sim-visual-matching CLOSED (commits 7ae1c8c pre-reg, 5c281f2 close): reset-render probe instrument (sim_encoder_ood_probe.py --render-resets/--appearance-draws, tick-0 validation 0.887≈0.885), v0-render baseline 0.890/0.835 (tripwire passed), then texture rebuild (plank direction/scale, central-band stats matched to ~2/255), real clutter layout, wrist-cam re-pose (menagerie had the moving jaw mirrored + camera staring into the gripper body), 72°-source center-matched equidistant fisheye, AWB grade, sensor blur/noise (labeled amendment), appearance-jitter RNG; physics oracles 5 green (qpos bit-identical across appearance seeds/render styles, spawn stream bit-matches banked sim100). Reads: scene 0.892 / fisheye 0.874 / grade 0.881 / sensor 0.876 vs bar 0.790 — miss; wrist content-sensitive (0.786 scene-only best, fisheye+grade regress to 0.900); sensitivity 20×5: jitter moves per-seed k ~3%, sim ~10× too homogeneous. 6 probe jsons + 2 before/after composites on fontaine-reports (curl 200), results post

• reports.md section, queue: inpainting + wrist-periphery queued, rerun owner_hold.

Next: queue_cli.py next → sim-visual-inpainting (or the owner’s rerun call if it lands first). run_work_next armed. No dated boundaries — queue.json canonical.*

Updated 2026-08-12 03:30–03:5xZ (real date -u at write: 03:49) — work session: encoder OOD probe CLOSED end-to-end — the visual gap is REAL and measured at the policy’s eyes, top-cam-heavier, but sim sits at the EDGE of the real manifold, not off it. The sim-visual-matching pre-reg now has its baseline: move top-cam 5-NN AUROC 0.885 → ~0.5.

Status: no live jobs — registry empty, nvidia-smi 0% / 0 MiB (probe ran foreground, ~0.02 GPU-h). Next GPU item: sim100-v1-rerun (queued this session, pends the visual-matching landing; probe re-read is its go/no-go gate).

Steering: none — Discord read empty at boot (owner asleep since 01:11Z); their 01:11Z visual-gap question now has a measured answer in-channel (launch note + results post + chart, 03:3x–03:4xZ).

Done: sim-encoder-ood-probe CLOSED (this commit): launch note pre-GPU, fontaine/scripts/sim_encoder_ood_probe.py (er_60k eval-mount vision trunk, pinned frames: 300 sim er60k-arm + 300 real v2 A/B-split + 100 clean anchor per camera), AUROC oracle tests (5 green). Reads: centroid AUROC top 0.802 / wrist 0.707; 5-NN secondary top 0.885 (ratio 1.54×) / wrist 0.828 (1.33×); clean control INSIDE the real spread (0.26/0.28) = shift is sim-specific; sim renders 7× too homogeneous (lighting/blur diversity is part of the gap); per-tick flat = scene not poses. Artifacts: analysis json + strip chart on fontaine-reports (curl 200 ×2), reports.md section, house dark chart via sim_encoder_ood_chart.py. Queue: sim-visual-matching enriched with the measured baseline, sim100-v1-rerun queued as successor.

Next: queue_cli.py next → sim-visual-matching (CPU + render minutes; pre-reg promised in-channel 01:30Z combines this baseline + matching v1 + 20-seed texture-sensitivity read). run_work_next armed. No dated boundaries — queue.json canonical.*

Updated 2026-08-12 00:40–03:5xZ — work session: sim100 CLOSED end-to-end: 0/500 successes, but the study answered the owner’s checkpoint-quality question — contact tracks capability, DIRECTION tracks visual familiarity. Visual matching confirmed as THE lever.

Status: no live jobs — fontaine-sim100b rc=0 03:16:37Z (phase 2 ~3.5/4 GPU-h, total ~5.5), registry empty, GPU 0%/0 MiB. Local H100 FREE; next GPU item is the queued encoder OOD probe (~0.1 GPU-h, launch-note first).

Steering: owner 01:11Z (heading to bed): “ideas for reducing the visual gap? or figuring out if that’s really the issue? checkpoints may not be very good” — answered 01:30Z (gap diagnostics cheapest-first

• SIMPLER visual-matching recipe); the teacher80k arm then settled the checkpoint question empirically (see below). No further messages.

Done: sim-policy-eval-100seeds + sim100-postprocess both CLOSED (prep 551e092 + 9de4719, close this commit). Rode phase 2 to rc in-turn; per-arm numbers in-channel as they landed (snap30k 01:30Z, teacher80k + close 03:4xZ). Final: er60k −0.03 cm mean / 4 moved; snap30k −0.12 / 38; ftrig4k +0.08 / 47 (only arm toward>away, 27/20); teacher80k −0.73 / 56 (18/38 away, only CI-excludes-zero read vs hold — strongest offline policy measurably worse than doing nothing). Gates green (strikes 0/500, hold floor −0.0). Artifacts: frozen reads json + 4 house charts (new engagement-split) + HTML report + 14-clip gallery on fontaine-reports (curl 200 ×5); results post posts/2026-08-12-sim100-results.md + reports.md section; blog built + Space pushed (post/reports/queue pages 200). Babysit entry pruned; queue: sim-encoder-ood-probe queued (owner-ask successor), sim-visual-matching enriched as THE lever.

Next: queue_cli.py next → sim-encoder-ood-probe (GPU free, launch note in-channel first), then the sim-visual-matching pre-reg (owner goal: ≥1 success on the 100 seeds). run_work_next armed. No dated boundaries — queue.json canonical.*

Session 2026-08-12 00:37–00:4xZ (tick, babysit; 0 new GPU-h — sim100b live within its gate): healthy mid-run tick. ftrig4k arm banked 00:36:44Z (numbers already posted), snap30k live at seed ~4, GPU 88%, gate 0.9/4.0 GPU-h. Discord: only our own arm-1 post; no reactions. Queue green (depth 2, 12 open); run_work_next already armed → work session chains to catch snap30k landing ~01:29Z. Archive roll: 19:26 body entry + 20:42/19:26 footer notes. Previous update 2026-08-12 21:39Z–2026-08-13 01:1xZ (real date -u at stamp: 01:10 08-13) — work session (the chained session riding the probe): GRPO probe: AR signal is REAL and cheap at t=1.0 (0.771 cm vs the 0.25 bar, cost CI includes 0); t=1.6 clears 10× but pays −1.08 cm. Tripwire fired at cell-1 (measured ~1.13 GPU-h/cell vs ~0.6 assumed) — re-scoped in-channel to cells 1/2/5, cells 3/4 parked. Plus: lit 0823 sim-improvement levers closed (3 papers pages), and an owner steer mid-session — wrist compositing investigated end-to-end and DECIDED render-only (22:31Z).

Status: GRPO probe cell 5 (SDE a=0.5, the Flow-GRPO trainability cell) finishing ~01:0xZ; unit stopped at its boundary per the re-scope; cumulative 3.57 vs the 3.5 gate (announced overage, actuals posted). Cells 1/2 read out at their boundaries (in-channel 23:0x/00:07Z). Cell 5 (SDE a=0.5): 1.860 cm CLEARS 7.4×, cost −0.734 CI [−2.240, +0.294], 5b hedge not triggered. Decision rule: BOTH families clear → token-GRPO (AR, t=1.0) first, Flow-GRPO SDE second, GRPO-on-sim does NOT park. Unit stopped 01:08:05Z at the cell-5 boundary (0 GPU procs), entry pruned.

Steering (live owner thread): (1) 22:21:54Z “investigate compositing for the wrist camera” → executed same session: CPU-only feasibility read (wrist_composite_feasibility.py, d177c0d) — plate poses spread 20.8 mm/5.1° median (why the static plate mushed), wrist is table-plane-dominated (median 100% of rays) so FK+plane-homography is sound, but warp-fill p10 49% before arm/boat holes ⇒ T-III seam hazard; recommended render-only wrist + redirect to lens fitting; (2) 22:31:50Z owner adopted the recommendation → sim-wrist-compositing CLOSED as decided, sim100 amendment 4 documents the channel asymmetry, sim-fit-real-lens-model queued (plumb-line θ→r on existing frames, no rig time); (3) 22:33:20Z “how does the encoder probe work in depth?” → two-part in-depth reply 22:41Z. Probe re-scope default posted 21:58Z, no objection at any boundary.

Done (commits 49381ca…6897fea + close-out): (1) lit 0823 CLOSED (ed6ba42, owner-called): 3 papers pages same session — composite-shadows (no published pipeline measures the missing-shadow axis; Re³Sim foreground-realism null; randomize-in-training / match-in-eval split), fisheye-lens-fitting (scale overfitting as a distance ruler; cubemap→any-lens MuJoCo pipeline), dr-schedules (DORAEMON success-throttled entropy max; eval stays at matched center); 3 ideas hooks (#16 sim lane), sim-composite-contact-shadows queued. (2) Probe instrument: frozen-reads script (ece2276), house dark chart (d2bde2f), registry re-scope (6897fea). (3) Wrist compositing decision artifacts (a5e5784). (4) Probe results amendment on the pre-reg page + results post at cell-5 close.

Next: queue_cli.py next → CPU lanes: sim-fit-real-lens-model (owner-adopted), sim-composite-contact-shadows (both probe-gated, pair on the same harness). GPU idle after the probe stop; cells 3/4 re-queue only on owner call; phase-2 GRPO call per the frozen decision rule (see the results post). v3-rerun unhold + disk-draws sign-off still open. queue.json canonical.*

Previous update 2026-08-12 19:15–19:2xZ (real date -u at stamp: 19:22) — tick, babysit: caught and closed a dropped owner ask — 19:01:42Z “Can you link a video?” was consumed mid-run by the prior session but never directly answered (the 19:11Z results post linked only the chart). Replied 19:16Z with three direct mp4 links.

Status: no live jobs, GPU idle (0%, 0 MiB). Queue validate green (depth 3, 13 open). run_work_next already armed (19:13, prior session) — the work session chains after this tick. pgrep straggler (ssh box checkpoint-ls, 25 s old) = background probe, benign.

Steering: owner 19:01:42Z video ask answered 19:16Z — arm A seed 6 (directed reach to 1.4 cm), arm A seed 16 (the knock-away — first boat contact), arm B seed 10 (knock-away); all three curl-verified 200 through the Space redirect before posting, plus the per-arm directory pattern for the other 17×2. Conversational hold kept in-session ~4 min after the reply (30 s Discord poll loop, no follow-up, no reactions at 19:20Z), then handed to the chained work session — it boots only when this tick ends, and an idle-tick hold delaying a 4-h work session is the banned idle pause; it rejoins the thread at boot. Lesson: an owner ask landing mid-run must get its own direct reply — the results post didn’t count (per the standing rule), and the ask sat 14 min. Open asks unchanged: v3-rerun unhold + arm set (15:13Z), GRPO memo review, disk-draws sign-off.

Done: video-links reply (19:16Z); hygiene — queue validate green, GPU-idle confirm, marker check, straggler dispositioned.

Next: chained work session → CPU lanes (lit-sim-improvement-levers owner-called, sim-wrist-compositing). GPU idle pending the v3-rerun unhold. queue.json canonical.*

Previous update 2026-08-12 18:39–19:1xZ (real date -u at stamp: 19:12) — work session, bounded: release-eval20-officialmap DONE — the INERT read is PARTIALLY OVERTURNED: under the official lift sign the release engages the scene (a 1.4 cm near-touch, a knock-away — the boat was touched, which never happened in the parent’s 20 episodes) but still 0/20 pickups on both arms; grounding, not units, remains the blocker. Canonical shim going forward = the snippet map exactly.

Status: no live jobs, GPU idle again — both arms ran ridden end-to-end 18:55–19:06:43Z (~0.25/0.4 GPU-h; first-poll 100% util / 20.8 GB; babysit entry pruned same session). Queue validate green (depth 3, 13 open).

Steering: no new owner messages this session (polled at boot, pre-launch, at both arm boundaries, and close). Executed the standing 18:19/18:34/18:36Z steering: official-map rerun, snippet map EXACTLY as arm A, arm B = +wrist_roll −90, per-episode in-channel updates (40 episode lines streamed as rows landed). Open asks unchanged: v3-rerun unhold + arm set (15:13Z), GRPO memo review, disk-draws sign-off.

Done (commits 45a41b6, fb76a96, close-out): (1) instrument — sign-carrying --convmap-override (JOINT=[SIGN,]OFFSET, oracles, checks 793 green) + --rows-jsonl per-episode stream on the parallel driver + the Discord watcher. (2) pre-reg amendment 1 posted BEFORE launch; tripwires under the official map recorded (lift mirror covers 7.5% uncovered vs +180’s 27.9%; arm B first-action 2.62° vs anchor 6.31°; arm A wrist-identity 34.0° = the known clamp signature, run per the owner’s call). (3) the read: arm A (snippet exact) mean −0.11, seed 6 directed reach to 1.4 cm (+4.61), seed 16 knock-away −5.26; arm B mean −0.09, 2 approaches, 1 knock-away; A vs B NULL (−0.02 [−0.75,+0.66], 11/20 exact ties) — snippet identity wrist stays canonical; vs ftrig arms all CI-incl-0 (bracket claim softened: ft steps buy more frequent engagement, 7/20 vs 1–2/20 approaches, not engagement from zero). (4) INERT explicitly re-dispositioned on the pre-reg page (amendment 1 results); MIRROR_MARGIN estimator lesson flagged to the box (a real, documented mirror rejected despite winning coverage — wants a coverage tiebreak / external-doc override). Artifacts: dark per-seed chart + rows + 20 videos per arm on the reports Space (curl 200); Discord launch + per-episode + results posts 18:58–19:0xZ.

Next: queue_cli.py next → CPU lanes: lit-sim-improvement-levers (owner-called lit slice), sim-wrist-compositing. GPU idle pending the v3-rerun unhold (15:13Z ask). run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 18:19–18:2xZ (real date -u at stamp: 18:24) — tick, babysit: owner 18:19Z caught a real shim discrepancy — the official LeRobot v3.0→v2.1 conversion sign-flips shoulder_lift ((−1,+90) = 90−arm); our fitted map used (+1,+180). The INERT 0.00×20 release read is now SUSPECT on lift; official-map rerun queued as first GPU claim.

Status: no live jobs, GPU idle. Queue validate green (depth 4, 14 open) — new item release-eval20-officialmap is first GPU claim; run_work_next armed. Driver-guard 18:14Z straggler alert: pid was a bare -zsh session child, no job attached — noise, nothing to relaunch.

Steering: owner 18:19:08Z — does our shim match irenegracekp/molmoact2-so101 inference.py (offsets 0,90,90,0,0,0, signs 1,-1,1,1,1,1, the documented v3.0→v2.1 SO-100/101 conversion)? Verified on the real tables (CPU, same session): 4/6 joints match exactly (pan/wrist_flex/gripper identity; elbow +90 — our override landed the official value). shoulder_lift MISMATCHES: the mirror (−1,+90) QUALIFIED in our fit and covers the release box better (7.5% vs 27.9% uncovered) but lost to the pre-registered MIRROR_MARGIN=0.25 rule by 20.4 pt — the gate rejected a real mirror (box’s panel snap +180 has the same exposure). wrist_roll ambiguous: ours −90 vs official identity, both 61% uncovered (span mismatch); identity clamps sim wrist home (77.6°) above the box ceiling (43.5°) — our −90 may absorb a rig-specific zero. Consequence: wrong lift sign direction-inverts decoded lift motion — matches the filmed swing-down-and-park; the first-action detector is sign-blind at rest (any bijection preserves action≈state). Full comparison + rerun plan posted 18:2xZ. Live exchange 18:32–18:3xZ: owner how is it going? → status posted; owner 18:34:34Z — running the seeds now with the snippet’s map? Update me on episodes 1 by 1 → confirmed 18:36Z: snippet map EXACTLY as primary (wrist_roll identity per snippet; our −90 arm optional secondary), per-episode in-channel posts as rows land (completion order under workers=8; strict-sequential offered if wanted — check channel before launch). Steering recorded in the queue item. Open asks: v3-rerun unhold + arm set (15:13Z), GRPO memo review, disk-draws sign-off.

Done: per-joint audit banked (this entry + queue item); release-eval20-officialmap queued (sign-carrying override CLI extension → tripwires under official map → same 20 seeds, ≤0.4 GPU-h, amendment on the existing pre-reg page, INERT claim to be explicitly re-dispositioned); run_work_next armed.

Next: chained work session executes the official-map rerun, then CPU lanes (lit-sim-improvement-levers, sim-wrist-compositing). v3-rerun still pends the owner unhold. queue.json canonical.*

Previous update 2026-08-12 17:20–17:2xZ (real date -u at stamp: 17:25) — tick, babysit: new owner prio landed and is queued — run the RELEASED MolmoAct2 checkpoint in sim through a unit shim; ack + design posted, owner 👍, chained work session armed to execute.

Status: no live jobs, GPU idle (0% / 0 MiB). Queue validate green (depth 4, 14 open) — new item release-eval20-convmap is FIRST GPU claim. The 17:15Z harness exit-1 alert was benign: the 15:31Z work session died on API-529 overload retries AFTER its work was committed (log-verified); nothing lost.

Steering: owner 17:13:24Z — run the released checkpoint directly; molmoact2 normalizes actions by global quantile stats assuming v2.1 lerobot format; read the note in depth + attached box-side note on molmoact2 unit contracts (committed: fontaine/notes/molmoact2-unit-contracts-box-note.md). Read in depth; key mechanics: the release’s q01/q99 table is a unit contract (lift box [+45.2, +186.1]) near-disjoint from our rig table ([−103.7, +48.6]); tag equality ≠ table equality; raw-in-v3-sim is meaningless (state below box floor → blind), so we execute the note’s case 3 — a per-joint affine shim (state-in / action-out), labeled off-contract _convmap, lower-bound interpretation. Ack + 4-step plan posted 17:22Z, owner 👍 confirmed. Open asks: v3-rerun unhold (15:13Z), GRPO probe memo review, disk-draws sign-off.

Done: release-eval20-convmap queued (owner prio, pre-reg page posts/2026-08-12-prereg-release-eval20-convmap.md with the two mandatory pre-GPU tripwires from the note: A⁻¹(box) workspace coverage + first-action-vs-state unit-bug detector, ≤0.5 GPU-h gate); box note committed into the repo; converted release located on disk (~/marius-convert-gate/converted/molmoact2_so100_101_release — no conversion step needed); exit-1 alert root-caused benign; run_work_next armed.

Next: chained work session executes release-eval20-convmap (shim → tripwires → 20 seeds parallel, paired vs step-500/step-2000 corrected arms; cross-check bank: our sim calibration’s implied lift/elbow map vs the box’s fit_convention_map snap). Then CPU lanes: lit-sim-improvement-levers, sim-wrist-compositing. v3-rerun still pends the owner unhold. queue.json canonical.*

Previous update 2026-08-12 15:31–17:0xZ (real date -u at stamp: 16:55) — work session, bounded: the owner-prio flipped-physics rerun is CLOSED — including an owner-caught render bug whose fix OVERTURNED the first readout (MuJoCo sameframe fast path; corrected read: knock-aways 6→2, the −12.3 cm catastrophe dissolves, paired +0.75 cm CI-crossing) — plus an owner-extension step-500 arm: the EARLIER checkpoint reads slightly better (paired +0.48, 9/3/8).

Status: no live jobs — ftrig_eval20_flip_parallel COMPLETE (5 arms total: 15:42–15:59Z both arms, 16:2xZ corrected postflip_v2, 16:4xZ step-500 extension; all rc=0, ridden in-session; first-poll 100% util / 20.9 GB; ~0.45/0.5 GPU-h). GPU idle again, pending the owner’s v3-rerun unhold (15:13Z ask, still open). Registry pruned to a completion note. Queue validate green (depth 3, 13 open).

Steering (live exchange 16:07–16:5xZ): owner prio 15:27:11Z (flipped-physics rerun, parallel) → executed; results 16:02Z. Owner 16:07:24Z: no difference between the videos, bracket still into the table → root-caused same session (below), fix + corrected rerun + corrected numbers in-channel 16:31Z. Owner 16:27:55Z: what is sameframe? → explainer posted 16:32Z. Owner 16:37:48Z: try the step-500 ftrig checkpoint too, same 20 seeds → converted + run + numbers in-channel 16:54Z. Open asks: v3-rerun unhold + arm set (15:13Z), GRPO probe memo review, disk-draws sign-off.

Done (commits c68ea06, 49d883f + correction close-out): queue item ftrig-eval20-flipped-parallel CLOSED. (1) Instrument: SO101Sim(flip_camera_mount=) toggle + parallel-driver merged-stats fallback + --no-mount-flip; harness oracle 5/5, check.py 773 green. (2) First paired read (both arms parallel workers=8, same 20 seeds): ~null, 18/20 bit-identical — superseded: it measured only the collision boxes. (3) Owner-caught bug, root-caused: MuJoCo stamps geoms whose frame coincides with a precomputed frame with geom_sameframe, and mj_kinematics then never reads geom_pos/quat — the bracket’s visual mesh (flag 2) silently ignored the runtime flip edit, so every video rendered the bracket table-side. One-line fix (clear the flag after editing); verified by hand-computed world-pose prediction (mesh (74,10,48)→(137,−22,149) mm, ceiling-side by the camera). (4) Corrected postflip rerun: the bit-identity oracle failed CORRECTLY — 13/20 seeds changed (the bracket is visible in the top cam; policy input changed; fixed render is MORE real-matching). TRUE flip effect: knock-aways 6→2 (s4 −12.3 → −0.05, s5 −5.5 → +0.1), mean −1.21 → −0.46 cm, paired +0.75 cm CI95 [−0.33, +2.26], 9 exact ties; character shift shoving→freezing (encoder-OOD probe remains the named follow-up). Physics-side claims (control loss −62%, sweep 31.9%→1.4%) box-driven — stand. Lesson registered: every runtime geom_pos/quat edit must clear geom_sameframe (existing runtime edits audited: cameras/materials unaffected). Banked incidentals: lockstep-parallel bit-reproducibility at workers=8; parallel-vs-seq outcome drift (11/20 seeds >0.1 cm, max 6.0). (5) Owner-extension step-500 arm (16:37Z ask → 16:54Z numbers): checkpoint converted fresh (outputs/converted/molmoact2_rig_r1_step500), same 20 seeds, fixed sim — mean +0.02 vs step-2000’s −0.46 cm, paired +0.48 CI95 [−0.06, +1.13] (9 better/3 worse/8 tied), knock-aways 1 vs 2, day’s best approach s0 +1.59 cm: the extra 1500 ft steps buy no sim-side competence (consistent with fine-tune narrowing toward rig appearance). Rows + 80 videos + stills on fontaine-reports /ftrig_eval20_flip_parallel/ (curl 200); pre-reg page carries results + correction + extension; Discord 16:02/16:31/16:32/16:47/16:54Z.

Next: queue_cli.py next → CPU lanes: lit-sim-improvement-levers, sim-wrist-compositing. GPU: idle until the owner answers the v3-rerun unhold ask (15:13Z — the rerun is the re-baseline carrier for every banked sim row post-flip, now WITH the render fix in); grpo-signal-probe owner_hold. queue.json canonical.*

Previous update 2026-08-12 13:10–15:0xZ (real date -u at stamp: 15:02) — work session, bounded, mid-session owner release of the GPU: both GPU legs ridden — parallel oracle FAIL (sequential stays registered), ftrig MolmoAct2 first look 0/20-but-reaches; the owner’s video-watching caught a 180°-flipped wrist bracket that the probes confirm explains ~62% of the servo-replay gap. Plus: replay control-loss validator landed (sysid passes), SDE sampler + oracles landed, branch rebased onto latest main.

Status: GPU RELEASED (owner 14:17Z “GPU is all yours”; confirmed 14:21Z). No live jobs — both GPU legs completed in-session (~0.4 GPU-h total): sim_parallel_oracle FAIL banked 14:37Z, molmoact2_ftrig_eval20 rows + 20 videos banked ~14:50Z (reports Space, curl-verified). Registry entries pruned to completion notes. Queue validate green (depth 3, 14 open).

Steering (busy day — 6 owner messages, all dispositioned): 13:16Z SDE ride-along GO + rebase ask + ftrig eval called top-prio → all three done. 13:36Z sequencing confirmed (oracle first) + “20 episodes, rough numbers and videos” → done. 13:54/13:59Z push/rebase nudges → branch now main+3, ahead-only (7b793e5→88223b1). 14:17/14:21Z GPU release → both legs ridden. 14:27Z “eval should composite both cameras” → sim-wrist-compositing queued (probe-gated per the SIMPLER partial-matching caution). 14:45Z bracket-hits-table question → probe-confirmed 180° flip (numbers below), sim-wrist-bracket-flip queued owner_hold → owner GO 15:01Z (“Let’s do asap”) → executed + verified same session (see Done). No open asks.

Done (commits 5c64046, 8d3227a, 88223b1 + close-out): (1) sim-sysid-replay-control-loss CLOSED — SIMPLER’s offline validator built (sim/replay_control_loss.py + oracles): pinned fit L 0.083 vs floor 0.070, under SIMPLER’s best anchor 0.131; finding: joint-MAE wins don’t carry to EE space (elbow lever arm 4.6 mm/°); results post + dark chart. (2) Flow-GRPO SDE sampler sample_actions_sde + 4 oracles (bit-identity at a=0, exact logprobs) — probe cell 5 launch-ready. (3) --draws/--ar-temperature on the sequential driver (draw-keyed identity triples, draw-0 bit-identity oracle; parallel driver deliberately untouched). (4) Branch REBASED onto latest main per owner (merge commit dropped,

• I001 fix main itself needed). (5) sim-parallel-rollouts CLOSED: oracle FAIL at workers=2 (3/6 seeds diverge macroscopically via batched bf16 decode; env determinism held; 1.73× throughput datum); frozen rule applied. (6) molmoact2-ftrig-sim-eval-20 CLOSED: 0/20, mean −0.84 cm, 7/20 real approaches, 4 knock-aways — moves with intent where er60k froze; videos + rows on fontaine-reports; one integration fix (merged-stats fallback for converted checkpoints). (7) Bracket probes: 31.9% of real-pose frames put the sim bracket below the table; ep-21 replay grinds 22% of ticks. (8) Bracket flip EXECUTED on owner GO (_flip_camera_mount, 180° about mount-local x, camera view bit-unchanged): sweep 31.9%→1.4% (bounding-conservative, center never below), strikes 0/100, oracles 7/7, replay L 0.0831→0.0751 vs floor 0.0701 (gap −62%), arm MAE 1.88°→1.50°. Physics re-baseline boundary declared (banked rows = pre-flip; folds into the v3 rerun). Consolidated results post (gpu-release-results). check.py 770 green throughout.

Next: queue_cli.py next → CPU lanes: lit-sim-improvement-levers, sim-wrist-compositing. The v3-rerun re-baseline now also carries the bracket flip (one re-baseline, not two). grpo-signal-probe unblocked for prep: finalized pre-reg is the remaining CPU step (sampler + flags landed); GPU sequence now at owner discretion post-eval. run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 10:44–11:0xZ (real date -u at stamp: 11:07) — work session, bounded: disk-position draws pre-reg DRAFTED — the (c) task-semantics leg is now paperwork-complete like the other two GPU-day items; the draft surfaces a new finding: the sim’s pinned disk sits OUTSIDE the measured real y range.

Status: GPU OWNER-RESERVED (since 09:23Z; 30% util / 12 GB observed at boot 10:44Z — owner active on the box). Registry empty, babysit exit 0, no live jobs. Queue validate green (depth 4, 14 open).

Steering: owner 10:45:20Z — “Do we not do the compositing on the wrist camera?” Answered 10:55:50Z in-channel: we do (both cameras get the v2 inpainting composite, per-camera real plates); what’s top-only is the v3 diversity draws — wrist kept bit-identical to v2 as the registered guard, its gap having been closed by the geometric periphery re-tune (0.835→0.548); offered a cheap v3.1 (episode photometric affine on the wrist, no plate change) to queue on request. Channel quiet through 11:07Z (60 s polls ×10). Objection windows open: parallel-rollouts pre-reg + rerun amendment (until GPU release/unhold) + the new disk-position draft (until sign-off with the rerun call).

Done: queue item sim-disk-position-prereg-draft CLOSED — posts/2026-08-12-prereg-disk-position-draws.md (DRAFT, holds for owner sign-off): six registered decisions — ABSOLUTE draws from the measured box (21/26 episodes, x 0.083–0.288, y −0.193–0.097; frame alignment trusted on the mouse precedent; pinned (0.22, 0.11) is outside the measured y range — the pinned eval tests a placement the rig never exhibited), success/metrics follow via disk_center, spawn goes DISK-RELATIVE (current box as deltas, ~9.5 cm tasks preserved), joint validity clamp by rejection (constants finalized by a 1000-seed policy-free sweep, truncation fraction reported), banked rows declared NON-comparable (protocol v2 “sim100-D”; within-run per-seed pairing survives fully), spawn-stream discipline + disk_draws=False bit-identity guard. Grounding-probe diagnostic registered (tracker-vs-memorizer slope; teacher80k the candidate tracker, er60k predicted flat). Sequenced AFTER the v3 rerun. check.py 710 green; blog built + Space pushed (page 200); Discord posted; queue.json updated.

Next: queue_cli.py next → sim-parallel-rollouts (gpu-local; its remaining leg is GPU-only — sim_parallel_oracle.py FIRST on release, owner 09:32Z). CPU lanes for chained sessions: GRPO design memo, sim-improvement lit slice. Rerun launches on owner unhold (amendment checklist); disk-draws implementation is a follow-up CPU item on owner sign-off. run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 10:17–10:4xZ (real date -u at stamp fix: 10:25 — the draft wrote 10:29 unobserved; fifth catch today, the clock gets checked in the same tool call or not stamped) — work session, bounded: sim100 v3-rerun pre-reg AMENDMENT drafted + posted — the rerun is now launch-ready the moment the owner unholds it; both GPU-day items (parallel oracle, rerun) have their paperwork done in advance.

Status: GPU OWNER-RESERVED (since 09:23Z; Discord read at boot 10:17Z empty, registry empty, no live jobs). Queue validate green (depth 5, 15 open).

Steering: owner 10:17:54Z — asked for spot20 v3 videos to check out. Answered 10:28Z in-channel: 5 clips pushed to the reports Space under spot20_gallery/ (teacher80k seed 12 v3+v0 pair — its +4.85 cm best gain with the bit-matched v0 twin — plus seeds 9/6 and an er60k v3 miss; all curl-verified 200), offer standing for any (arm, seed) from the 60 on disk. Channel then quiet through 10:41Z (12×60 s polls). Objection windows remain open on both the parallel-rollouts pre-reg and this amendment draft until GPU release / unhold.

Done: queue item sim100-v2-rerun-amendment-draft CLOSED — posts/2026-08-12-prereg-amendment-sim100-v3-rerun.md (DRAFT, not registered): inherits the sim100 protocol; changes = v3 frames with the re-baseline table (top 0.890→0.673, wrist 0.835→0.548, GPU-path numbers included), arm set er60k_v3 / ftrig4k_v3 / teacher80k_v3 / hold_v3 (teacher80k ADDED post-spot20 as the confirmatory read, snap30k dropped double-null, er rungs stay dead — all flagged as owner decision points), primary read = paired per-seed Δ v3−v0 vs banked rows at n=100, per-arm priors registered in advance (teacher80k CI-excludes-zero positive = the headline prediction; er60k prior null; ftrig4k the open cell), disk pinned for pairing, execution contingent on the parallel-oracle outcome (Path A ~2–3 GPU-h / Path B ≤10 GPU-h gate), finalization checklist at unhold. success() gripper-open caveat re-verified in code. check.py 710 green; blog built + Space pushed (page 200); Discord posted; queue.json updated.

Next: queue_cli.py next → sim-disk-position-prereg-draft (cpu), then the research lanes (GRPO design memo, sim-improvement slice). ON GPU RELEASE: sim_parallel_oracle.py FIRST (owner 09:32Z), then the rerun on owner unhold (finalization checklist in the amendment). run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 09:45–10:1xZ (real date -u at stamp: 10:13) — work session, bounded: sim-parallel-rollouts CPU scaffold + pre-reg LANDED — the owner-sequenced first GPU item is launch-ready the moment the box is released; its GPU leg is just the registered ≤1 GPU-h oracle run.

Status: GPU OWNER-RESERVED (since 09:23Z; babysit 10:08Z quiet, registry empty, no new owner messages). Queue validate green (depth 6, 16 open); sim-parallel-rollouts reclassed gpu-local with its pre-reg attached.

Steering: none new this session (owner quiet since the 09:32Z re-sequencing; 👍 on the plan post recorded by the 09:41 tick). Pre-reg posted in-channel 10:1xZ with the objection window framed as until-GPU-release.

Done: commit 1e4e16f — sim/rollout_sim_parallel.py (N spawn env-workers each owning a SO101Sim + EGL context, ONE batched policy in the parent, deterministic lockstep-rounds scheduler: batch membership a pure function of seed partition × worker count × policy outputs, stable-noise identity triple preserved per row); rollout_sim.py refactor extracting the shared run_episode_loop (+ streaming VideoWriter fixing the 1.6 GB/episode frame buffer, RolloutSim protocol, sim_item helper); 5 CPU-tier harness-equivalence oracles (rows bit-equal minus latency vs the sequential loop, action-coupled fake sim); GPU bit-match instrument fontaine/scripts/sim_parallel_oracle.py (GREEN/FAIL, seq-vs-par at 2 and 8 workers). check.py 710 green. Pre-reg posts/2026-08-12-prereg-sim-parallel-rollouts.md posted (frozen decision rule: GREEN → registered numbers allowed at validated settings; FAIL → paired-only fallback, no mixing with banked sequential rows) + blog built + Space verified 200 + in-channel.

Next: queue_cli.py next pointer stands (amendment draft / research-program lanes are the CPU work for chained sessions: GRPO design memo, sim-improvement slice). ON GPU RELEASE: sim_parallel_oracle.py runs FIRST (owner 09:32Z; exact command in babysit.toml no_live_runs_reason). run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 09:2x–09:4xZ (real date -u at stamp fix: 09:31 — the draft guessed 09:55; my internal clock runs ~25 min fast today, fourth catch, memory updated) — work session, owner-steered arc 2: GPU handed to the owner (09:23Z, few hours) — no launches until released in-channel; sessions switch to the owner-called research program: sim improvement lit, SO-101-adjacent benchmark envs, GRPO-on-sim design.

Status: GPU OWNER-RESERVED (babysit no_live_runs_reason carries the rule). Queue validate green (depth 6, 16 open): 3 research items queued (lit-so101-benchmark-envs — first page landed, lit-sim-improvement-levers, grpo-on-sim-design-research) ahead of the amendment/disk-position drafts and sim-parallel-rollouts.

Steering: owner 09:23Z — GPU reserved + research program set (supersedes the 08-10 lit pause for these threads). Acked 09:2xZ with the three-lane plan. Earlier arcs this morning: v3 flip, GPU compositor, spot20 (all closed, see the 07:2x entry).

Done: lit slice 0820 — papers/so101-sim-ecosystem.md (update to the 08-11 census, training-in-sim angle): lerobot-sim2real’s 91.6% real cube-grasp from pure-sim RL on SO-100 = embodiment is not the blocker; named cheap bridge = port their cube-grasp task+predicate into our sim (~1 day) to sit next to the only published SO-100 sim2real number; ManiSkill3 throughput vs our fidelity play (GRPO could train v0 / eval v3); GRPO deep-read targets banked (SimpleVLA-RL for the AR head, πRL for flow-head logprobs). ideas.md hook; queue updated. THEN slice 0821 — papers/grpo-for-vla-heads.md (survey-depth mechanism map): the flow-head logprob obstacle is solved twice in the literature (Flow-GRPO ODE→SDE with closed-form per-step logprobs; πRL Flow-Noise exact likelihood); SimpleVLA-RL proves token-GRPO on the AR head from 1-demo cold start (17.3→91.7 LIBERO); our paired seeded groups + progress_final are a ready-made reward; design memo = the queued item’s deliverable. Owner re-sequenced (09:32Z): sim-parallel-rollouts FIRST on GPU release — encoded in queue + registry. Both pages + ideas hooks committed (real 09:35 at this edit).

Next: chained sessions continue the research program (GRPO design memo + sim-improvement slice are the open lanes); NO GPU work until the owner releases the box. run_work_next armed. queue.json canonical.*

Previous update 2026-08-12 07:2x–09:1xZ (real date -u at stamp fix: 09:07 — the draft carried an unchecked 09:14, and the results Discord post said 09:16Z at real 09:07; third drift today, now a saved memory) — work session, owner-steered arc: spot20 CLOSED — the teacher SEES the new sim: teacher80k paired Δ +0.97 cm [CI95 +0.16, +1.81] toward the disk, the only CI-excludes-zero read (direction flip vs its v0 −0.73); er60k −0.07 / snap30k +0.06 null. Plus: v2→v3 default flip (owner 07:29Z) and the GPU compositor (owner 08:12Z, 371→94 ms/tick, probe reads preserved).

Status: no live jobs — spot20 units all rc=0 by 09:02Z (~1.3 GPU-h of gate 3), registry pruned, GPU free. Queue validate green (depth 3, 13 open): sim100-v2-rerun-amendment-draft (retargeted v3) + sim-disk-position-prereg-draft + sim-parallel-rollouts (new, owner-approved 08:44Z). sim100-v1-rerun stays owner_hold — both gate legs now argue GO (visuals 0.673/0.548 + behavioral response confirmed at n=20).

Steering: owner active all morning — v3 flip approved 07:29Z (done, da96d30); GPU compositor approved 08:12Z (done, b99be38, oracle ≤2/255 + probe re-read 0.669/0.113/0.544 within noise); spot-checks called 07:35Z incl. snapflow/teacher (done, results posted); sim-parallel-rollouts approved 08:44Z (queued). All owner messages replied in-channel same-session.

Done: spot20 end-to-end (pre-reg 07:52Z → 3 arms parallel via run_detached → paired reads + chart + results post 09:0xZ); spot20_reads.py + spot20_chart.py; GPU _TorchPost compositor

• gpu-marked oracle; queue item sim-parallel-rollouts written with its determinism-oracle requirement; clock-stamp corrections (pre-reg was in-channel 06:35:39Z not 07:04Z — Discord timestamps are authoritative; two more drifted stamps caught and owned in-channel).

Next: queue_cli.py next → sim100-v2-rerun-amendment-draft (or the owner’s rerun unhold — the spot-check argues for it; sim-parallel-rollouts first would cut the rerun to an afternoon). run_work_next armed. No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 06:23–06:3xZ (real date -u at write: 06:24) — tick (babysit): quiet tick — the wrist-periphery close (06:19Z post) stands as latest; nothing live, no owner traffic, chained work session armed.

Status: no live jobs — registry empty (babysit exit 0), nvidia-smi 0% / 0 MiB, GPU idle-by-design. Queue validate green (depth 2, 12 open). Next items: sim-content-diversity + sim100-v2-rerun-amendment-draft; sim100-v1-rerun stays owner_hold with its gate at double-GO (top 0.773, wrist 0.548 — both under their registered lines; the 05:01Z spot-check ask unanswered).

Steering: none — Discord read empty; history shows our 06:19Z wrist-periphery close as latest, no new reactions (owner asleep since 01:11Z).

Done: babysit poll exit 0; queue validate green; run_work_next armed (06:23Z). Archive roll: 05:09 body entry + 05:49 footer note.

Next: chained work session → queue_cli.py next → sim-content-diversity (or the owner’s rerun/spot-check call if it lands first — the gate is double-GO). No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 05:52–06:2xZ (real date -u at write: 06:17) — work session: sim-wrist-periphery-fix CLOSED — registered bar SMASHED on the first candidate: wrist 5-NN AUROC 0.900 → 0.548 vs ≤ 0.786 (0.5 = can’t tell sim from real; k-ratio 0.97× — sim wrist frames now sit INSIDE the real embedding spread). One runtime pose change: the camera moves ~10 cm forward, over the jaw base, 55°→65° down.

Status: no live jobs — registry empty, nvidia-smi 0% / 0 MiB between probe reads (~0.04 GPU-h foreground total, gate 0.2). Queue validate green (depth 2, 12 open): sim-content-diversity + sim100-v2-rerun-amendment-draft (new, makes the rerun launch-ready on unhold); sim100-v1-rerun stays owner_hold but its gate now reads double-GO (top 0.773 ≤ 0.790 AND wrist 0.548 ≤ 0.786 — both cameras at/under their registered lines).

Steering: none — Discord read empty at boot (05:52Z) and at the close poll (06:16Z, surfaced only our own pre-reg post); owner asleep since 01:11Z. Rerun spot-check ask (05:01Z) still pending.

Done: sim-wrist-periphery-fix CLOSED (pre-reg posted 05:59Z, close commit this entry): _repose_wrist_cam re-derived — camera from the wrist top behind the gripper (world (0.096,−0.004, 0.160), 55°) to over the jaw base ((0.150,0,0.150), 65°), found in 3 encoder-free iteration rounds vs pinned A-half real starts; the gripper-body mass filling the bottom ~40% of frame drops out, leaving jaw tips in the bottom quarter like every real start frame. Reads: wrist 0.548 (100 seeds; 0.550 at 20×5 — stable), centroid 0.587; guard green (top 0.773 bit-identical). Per-episode wrist-plate axis retired. Oracles 10 green (qpos bit-identity across styles, spawn stream vs banked v0), check.py 704 green. 2 probe jsons + REAL|old|new gallery on fontaine-reports (all curl 200). Results post + reports.md section; queue: wrist item done, amendment-draft queued, rerun gate fact double-GO. Archive roll: 05:04 body entry + 05:09 footer note.

Next: queue_cli.py next → sim-content-diversity (or the owner’s rerun/spot-check call if it lands first — the gate is double-GO). run_work_next armed. No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 05:49–05:5xZ (real date -u at write: 05:51) — tick (babysit): quiet tick — the inpainting close (05:47Z post) stands as latest; nothing live, no owner traffic, chained work session armed.

Status: no live jobs — registry empty (babysit exit 0), nvidia-smi 0% / 0 MiB, GPU idle-by-design. Queue validate green (depth 2, 12 open). Next items: sim-wrist-periphery-fix + sim-content-diversity; sim100-v1-rerun stays owner_hold (registered gate reads GO-with-v2-frames; the 05:01Z spot-check ask unanswered).

Steering: none — Discord read empty; history shows our 05:47Z v2 results post as latest, no new reactions (owner asleep since 01:11Z).

Done: babysit poll exit 0; queue validate green; run_work_next confirmed armed (05:49Z). Archive roll: 04:09 body entry + 05:04 footer note.

Next: chained work session → queue_cli.py next → sim-wrist-periphery-fix (or the owner’s rerun/spot-check call if it lands first). No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 05:04–05:1xZ (real date -u at write: 05:07) — tick (babysit): quiet tick + clock audit — GPU idle-by-design between the v1 close and the inpainting pre-reg; no owner messages or reactions; corrected the prior session’s hallucinated clock (+~2 h) in now.md and queue.json.

Status: no live jobs — registry empty (babysit exit 0), nvidia-smi 0% / 0 MiB. Next item: sim-visual-inpainting (CPU + ~0.02 GPU-h probe reads); sim100-v1-rerun stays owner_hold — spot-check ask posted 05:01Z, unanswered.

Steering: none — Discord read empty; history shows our 05:01/05:03Z results + link-fix posts as latest, no new reactions (owner asleep since 01:11Z).

Done: clock audit — the 04:09 work session’s records claimed a 04:09–07:2xZ span (“real 07:15”) but its commit landed 05:03:49Z and its Discord posts at 05:01–05:03Z; corrected the now.md entry header, Steering line and footer note, plus queue.json (updated_utc 07:00→05:03Z, 07:0xZ depth_reason, three 06:5xZ boundary stamps; commit messages ade7479/5c281f2 keep the wrong times — immutable, noted here). Queue validate green (depth 2, 12 open); run_work_next confirmed armed (05:02Z). Archive roll: 03:30 body entry + 04:05/03:30 footer notes.

Next: chained work session → sim-visual-inpainting pre-reg (or the owner’s rerun call if it lands first). No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 04:05–04:1xZ (real date -u at write: 04:07) — tick (babysit): quiet tick — GPU idle-by-design between the OOD probe close and the sim-visual-matching pre-reg; no owner messages or reactions; chained work session already armed.

Status: no live jobs — registry empty (no_live_runs_reason current), nvidia-smi 0% / 0 MiB. Next item: sim-visual-matching (CPU + render minutes; pre-reg combines the measured OOD baseline — move top-cam 5-NN AUROC 0.885 → ~0.5 — with matching v1 + a 20-seed texture-sensitivity read), then sim100-v1-rerun.

Steering: none — Discord read empty; history shows our 03:47Z probe-result post as the latest message, no new reactions (owner asleep since 01:11Z).

Done: babysit CLI skipped per registry (no live entry); queue validate green (depth 2, 11 open); run_work_next confirmed armed → work session chains at tick end. Archive roll: 00:40 body entry + 03:25/00:40 footer notes.

Next: chained work session → sim-visual-matching pre-reg (in-channel first, promised 01:30Z; owner goal: ≥1 success on the 100 seeds). No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 03:25–03:3xZ (real date -u at write: 03:28) — tick (babysit): quiet tick — GPU idle-by-design after the sim100 close, no owner messages or reactions (owner asleep since 01:11Z); chained work session already armed for the encoder OOD probe.

Status: no live jobs — registry empty (no_live_runs_reason current), nvidia-smi 0% / 0 MiB. Next GPU item: sim-encoder-ood-probe (~0.1 GPU-h; in-channel launch note with pinned frame selection + distance definition first), then the sim-visual-matching pre-reg.

Steering: none — Discord read empty; history shows the 03:21Z sim100 close post as the latest message, no new reactions.

Done: babysit CLI skipped per registry (no live entry); queue validate green (depth 2, 11 open); run_work_next confirmed armed (touched 03:25:12Z by the closing work session); 20:44 body entry + 20:44/00:37 footer notes rolled to the archive.

Next: chained work session → OOD probe launch note + run, then the sim-visual-matching pre-reg (owner goal: ≥1 success on the 100 seeds). No dated boundaries — queue.json canonical.*

Previous update 2026-08-12 00:37–00:4xZ — tick (babysit): sim100 phase 2 on schedule — ftrig4k arm banked (posted 00:37Z by the prior session), snap30k arm live and healthy; nothing to judge, no owner messages.

Status: fontaine-sim100b LIVE and healthy — 3 procs, GPU0 88% / 6.1 GiB. ftrig4k.json banked 00:36:44Z; snap30k arm started 00:36:44Z, at seed ~4 at poll (~31 s/episode → lands ~01:29Z), then teacher80k (heun-30, ~110 min) → rc ~03:2xZ. Gate projection 0.9 of 4.0 GPU-h on this entry — wide margin. Babysit’s “counter reset 28→26” was the CLI re-anchoring across the arm roll, not an anomaly (log shows clean === arm ftrig4k done / arm snap30k start ===).

Steering: none — Discord read surfaced only our own 00:37Z arm-1 result post; history clean, no new reactions.

Done: babysit poll (exit 0, all facts nominal); arm-roll reconciled against the log; queue validate green (depth 2, 12 open); 19:26 body entry + 20:42/19:26 footer notes rolled to the archive.

Next: run_work_next already armed (23:51Z) — chained work session posts snap30k numbers when the arm lands (~01:29Z), preps sim100_reads.py phase-2 ARMS list (babysit anchor), then sim100-postprocess at rc (~03:2xZ). No dated boundaries — queue.json canonical.*

Updated 2026-08-12 05:09–05:5xZ (real date -u at write: 05:47) — work session: sim-visual-inpainting CLOSED — the registered bar is MET, first registered win on the visual-gap axis: top-cam 5-NN AUROC 0.890 (v0) → 0.876 (v1) → 0.773 (v2) vs the ≤0.790 line. render_style="v2" (real clean plates + segmentation composite) ships as the new default; wrist composite reported as an honest negative (0.951 — mush plate) and v2 keeps the v1 wrist path.

Status: no live jobs — registry empty, nvidia-smi 0% / 0 MiB between probe reads (~0.06 GPU-h foreground total, gate 0.3). Next items: sim-wrist-periphery-fix + sim-content-diversity (both CPU + probe minutes); sim100-v1-rerun stays owner_hold but its registered gate now reads GO with v2 frames (0.773 ≤ 0.790) — spot-check ask from 05:01Z still pending.

Steering: none — Discord read at boot and at the 05:45Z boundary both empty of owner messages (owner asleep since 01:11Z). One self-caught process fix: my pre-reg link used a wrong Space domain (fix posted in-channel 05:15Z, memory updated); and a clock audit caught this session stamping 06:xxZ into queue/post drafts at real 05:45Z — corrected before commit.

Done: sim-visual-inpainting CLOSED (commits 3156c14 pre-reg, f75c341 v2 landed, close commit this entry): clean-plate miner (make_clean_plates.py → assets/real_plates/, 26 A-half episodes, video-frame disjointness from held-out B verified 17066 < 17100), segmentation composite in SO101Sim (dynamic = arms + benchy + disk

• on-table clutter whose real twins move between episodes and median away; fisheye-shared mask, graded/blurred foreground, full-frame sensor noise), probe --render-style flag. Reads: top 0.773 (100 seeds; 0.774 at 20×5 — stable), centroid 0.730, k-ratio 1.54× → 1.16×; overfit tripwire clear; homogeneity unchanged (~4% vs 45% — content variation named the lever, successor queued). Oracles 6 green (qpos bit-identical v0/v1/v2, spawn stream banked), check.py green. 3 probe jsons + 2 REAL|v1|v2 galleries on fontaine-reports (all curl 200). Results post + reports.md section; queue: inpainting done, sim-content-diversity queued, rerun gate fact updated.

Next: queue_cli.py next → sim-wrist-periphery-fix (or the owner’s rerun/spot-check call if it lands first — the registered gate now reads GO). run_work_next armed. No dated boundaries — queue.json canonical.*

Footer note (rolled 06:2xZ) — Session 2026-08-12 05:49–05:5xZ (tick, babysit; 0 new GPU-h — GPU idle-by-design after the inpainting close): quiet tick. Registry empty, nvidia-smi 0%/0 MiB. Discord read empty, no new reactions (rerun spot-check + GO-with-v2 call both pending with the owner, asleep since 01:11Z). Queue validate green (depth 2, 12 open); run_work_next armed → wrist-periphery (or the owner’s rerun call) chains next. Archive roll: 04:09 body entry + 05:04 footer note.

Updated 2026-08-12 06:26–07:3xZ (real date -u at stamp fix: 07:26; the first write carried an unchecked 07:31 stamp) — work session: sim-content-diversity CLOSED — registered bar MISSED on the spread leg (top k std/mean 0.038 → 0.114 vs ≥ 0.15) while the AUROC leg over-met: 0.773 → 0.673, k-ratio 1.02× — the top camera’s composites now sit INSIDE the real embedding spread, the best top read this axis has produced. Default stays v2 per the registered flip rule; the flip is a one-👍 owner ask on the results post.

Status: no live jobs — registry empty, nvidia-smi 0% / 0 MiB between probe reads (~0.08 GPU-h foreground total, gate 0.3). Queue validate green (depth 2, 12 open): sim100-v2-rerun-amendment-draft

• sim-disk-position-prereg-draft (new — fed by the measured real disk wander, 8–29 cm × ±19 cm across A episodes); sim100-v1-rerun stays owner_hold with its gate at double-GO — now with v3 frames (top 0.673 + wrist 0.548) after the owner-approved default flip (07:29Z).

Steering: owner woke 07:21Z (“looks like great work and really good looking reports!”) — replied 07:25Z with the three pending calls; 07:29Z the owner approved the v2→v3 default flip (“should we swing to v3 then?”) → flipped same session (oracles + wrist guard re-run green), rerun gate facts updated to top 0.673 + wrist 0.548. Still pending: the rerun-vs-spot-check call itself (sim100-v1-rerun stays owner_hold).

Done: sim-content-diversity CLOSED (pre-reg in-channel 06:35Z, close commit this entry): 26-plate per-episode bank mined ghost-free (inlier median vs gain-corrected global plate, channel-MAX deviation after a channel-mean candidate let the operator’s hand smear a plate — caught by inspection); clutter spread measured through the sim’s own camera model (displace-and-recover selfcheck 0.4/1.7 cm; mouse present 27% of A episodes, mug-item 15%, laptop 77% as deltas, pcb static); render_style="v3" ships (plate + clutter draws after every v2 draw; wrist path bit-identical to v2 — guard script GREEN, probe wrist 0.548 reproduced). Reads: top k std/mean 0.114 (100 seeds; 0.114 at 20×5 — stable), AUROC 0.673/0.655, per-draw spread 0.5%→2.5%; between-plate variation carries most of the new spread. Encoder-null iteration banked: composing per-episode gain onto the foreground moved nothing — third confirmation that content moves this encoder, light does not. Oracles 6 green, check.py green. 2 probe jsons + 2 charts on fontaine-reports; results post + reports.md section. Queue: content-diversity done, disk-position-prereg-draft queued (depth 2).

Next: queue_cli.py next → sim100-v2-rerun-amendment-draft (or the owner’s rerun/spot-check/flip call if it lands first). run_work_next armed. No dated boundaries — queue.json canonical.*

Footer note (rolled 09:4xZ) — Session 2026-08-12 07:2x–09:2xZ (work, owner-steered exploit; ~1.3 GPU-h spot20 of gate 3 + ~0.05 probe/bench): spot20 closed — teacher80k +0.97 cm paired [CI +0.16, +1.81] toward the disk under v3 visuals, the only CI-excludes-zero read (direction flip); er60k/snap30k null — visual familiarity moves the arm that engages. v2→v3 default flipped (owner 07:29Z); GPU compositor landed (owner 08:12Z; 371→94 ms/tick, probe reads within noise); sim-parallel-rollouts queued (owner 08:44Z). Registry pruned, GPU free, run_work_next armed.

Footer note (rolled 09:4xZ) — Session 2026-08-12 06:26–07:3xZ (work, exploit; ~0.08 GPU-h foreground probe/guard reads, gate 0.3): sim-content-diversity closed — pre-reg 06:35Z, 26-plate per-episode bank + measured clutter draws ship as render_style=“v3”; spread bar MISSED (top k std/mean 0.038 → 0.114 vs ≥ 0.15) but AUROC 0.773 → 0.673, k-ratio 1.02× — top composites inside the real spread, best top read yet. Wrist guard bit-identical (0.548). Default stays v2 per the registered flip rule → owner flip ask posted. Queue refilled: sim-disk-position-prereg-draft (real disk wanders 8–29 cm × ±19 cm, measured). run_work_next armed.

Footer note (rolled 09:4xZ) — Session 2026-08-12 06:23–06:3xZ (tick, babysit; 0 new GPU-h — GPU idle-by-design after the wrist-periphery close): quiet tick. Registry empty, nvidia-smi 0%/0 MiB. Discord read empty, no new reactions (rerun spot-check + double-GO call both pending with the owner, asleep since 01:11Z). Queue validate green (depth 2, 12 open); run_work_next armed → sim-content-diversity (or the owner’s rerun call) chains next. Archive roll: 05:09 body entry + 05:49 footer note.

Footer note (rolled 09:4xZ) — Session 2026-08-12 05:52–06:2xZ (work, exploit; ~0.04 GPU-h foreground probe reads, gate 0.2): sim-wrist-periphery-fix closed — pre-reg 05:59Z, one runtime wrist-cam pose change (over the jaw base, 65° down), registered bar SMASHED: wrist 5-NN AUROC 0.900 → 0.548 vs ≤ 0.786 (k-ratio 0.97× — sim wrist inside the real spread; first camera to reach statistically-indistinguishable); top guard green (0.773 bit-identical). Per-episode wrist-plate axis retired; sim100 rerun gate now double-GO (still owner_hold on the spot-check ask). Queue refilled: sim100-v2-rerun-amendment-draft (depth 2). run_work_next armed.

Footer note (rolled 10:1xZ) — Session 2026-08-12 09:41–09:4xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z): quiet tick. Registry empty, babysit exit 0. Discord read empty; owner 👍 on the 09:27Z three-lane plan post recorded (plan confirmed, already in motion). Queue validate green (depth 6, 16 open); run_work_next armed → research program continues (GRPO design memo / sim-improvement slice / sim-parallel-rollouts CPU scaffold). Archive roll: 06:26 body entry

• 4 footer notes (07:2x, 06:26, 06:23, 05:52).

Footer note (rolled 10:1xZ) — Session 2026-08-12 09:2x–09:4xZ (work, owner-steered lit; 0 new GPU-h — box owner-reserved 09:23Z): research program started — slice 0820 page landed (sim ecosystem take 2: lerobot-sim2real 91.6% pure-sim-RL cube-grasp on SO-100, cube-grasp task-port named as the ~1-day bridge; GRPO targets banked). 3 research items queued; run_work_next armed.

Footer note (rolled 10:4xZ) — Session 2026-08-12 10:15–10:2xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z): quiet tick. Registry empty, babysit exit 0. Discord read empty, no new reactions; owner quiet since the 09:32Z re-sequencing (pre-reg objection window open until GPU release). Queue validate green (depth 6, 16 open); run_work_next armed → CPU research lanes continue (GRPO design memo / sim-improvement slice / amendment draft). Archive roll: 2 footer notes (09:41 tick, 09:2x work).

Footer note (rolled 10:4xZ) — Session 2026-08-12 09:45–10:1xZ (work, exploit/infra; 0 new GPU-h — box owner-reserved): sim-parallel-rollouts CPU scaffold + pre-reg landed (1e4e16f): lockstep parallel driver, shared episode loop, 5 CPU oracles, GPU bit-match instrument; queue item now launch-ready (GPU leg = registered ≤1 GPU-h oracle). Blog + Space + in-channel post done. run_work_next armed.

Footer note (rolled 11:1xZ) — Session 2026-08-12 10:17–10:4xZ (work, exploit/paperwork; 0 new GPU-h — box owner-reserved): sim100 v3-rerun amendment DRAFT posted (queue item closed) — arms/re-baseline/priors/paired-v0 read registered in draft, launch-ready on owner unhold; teacher80k add + snap30k drop flagged as owner decision points in-channel. Owner video ask 10:17Z answered 10:28Z (spot20_gallery/ clips on the reports Space, links verified). Blog + Space + Discord done. run_work_next armed.

Footer note (rolled 11:1xZ) — Session 2026-08-12 10:43–10:4xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z): quiet tick. Registry empty, babysit exit 0. Discord read empty, no new reactions; owner quiet since our 10:28Z spot20-video reply (~15 min, conversational hold released). Objection windows stay open on the parallel-rollouts pre-reg and the rerun amendment until GPU release / unhold. Queue validate green (depth 5, 15 open); run_work_next armed → CPU lanes continue (sim-disk-position-prereg-draft next, then GRPO design memo / sim-improvement slice). Archive roll: 2 footer notes (10:15 tick, 09:45 work).

Footer note (rolled 11:2xZ) — Session 2026-08-12 10:44–11:1xZ (work, exploit/paperwork; 0 new GPU-h — box owner-reserved, 30% util owner-side at boot): disk-position draws pre-reg DRAFT posted (queue item closed) — six registered decisions incl. sim100-D non-comparability call + grounding-probe diagnostic; new finding: pinned disk (0.22, 0.11) outside the measured real y range. Owner wrist-compositing question 10:45Z answered 10:56Z (conversational hold ~11 min, then quiet). Blog + Space + Discord done. run_work_next armed.

Footer note (rolled 12:1xZ) — Session 2026-08-12 11:10–11:1xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z, 43% util / 22.5 GB owner-side): quiet tick. Registry empty, babysit exit 0. Discord read empty, no new reactions; owner quiet since their 10:45Z wrist-compositing question (our reply 10:56Z, ~15 min silence — conversational hold released). Owner active on the box: pushed cba0c15 to main 11:02Z (bijou/molmo_flow clamp-table gate diagnosis — owner-side work, no action for us). Objection windows stay open on the parallel-rollouts pre-reg, the rerun amendment, and the disk-position draft until GPU release / unhold / sign-off. Queue validate green (depth 4, 14 open); run_work_next armed → CPU lanes continue (GRPO design memo / sim-improvement slice). Archive roll: 1 footer note (10:43 tick).

Footer note (rolled 12:1xZ) — Session 2026-08-12 11:20–11:3xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z, 0% util / 0 MiB observed 11:22Z — owner processes gone but the 09:23Z rule is release-in-channel, so no launches): harness-alert tick. The 11:11Z chained work session died on API 429 “out of usage credits” at its first calls (~3 min, no work lost — git clean, its queue item untouched); this 11:20Z tick ran normally, so the cap window rolled on its own. Diagnosis + resolution posted in-channel 11:23Z with a side note that the box reads idle (reservation stands; oracle stays armed for the in-channel release). Registry empty, babysit exit 0; no new owner messages or reactions since our 10:56Z wrist-compositing reply. Queue validate green (depth 4, 14 open); run_work_next re-armed → CPU lanes continue (GRPO design memo / sim-improvement slice); if the next work session 429s again, hold sessions rather than burn retries. Archive roll: 1 footer note (10:44 work).

Footer note (rolled 15:2xZ) — Session 2026-08-12 12:17–12:2xZ (tick, babysit; 0 new GPU-h — box owner-reserved since 09:23Z, 0% util / 0 MiB observed 12:17Z — release-in-channel rule stands, no launches): quiet tick. Registry empty, babysit exit 0. Discord read empty, no new owner messages or reactions since our 11:43Z GRPO-memo post (its two review asks stand open: probe yes/no + optional SDE cell, and the oracle → rerun → probe sequencing). Owner active on main: pushed the molmo_flow migration through step 5 — train smoke GREEN + checkpoint round-trip (3547c5c, ~20 commits since cba0c15; owner-side work, no action for us). Objection windows stay open (parallel-rollouts pre-reg, rerun amendment, disk-position draft). Queue validate green (depth 3, 14 open); run_work_next armed → CPU lanes (the two open lit items). Archive roll: 2 footer notes (11:10 tick, 11:20 tick).

Footer note (rolled 15:2xZ) — Session 2026-08-12 11:25–11:4xZ (work, bounded; 0 new GPU-h — box owner-reserved since 09:23Z, 0% util / 0 MiB observed, no launches; explore): GRPO-on-sim design-research item closed — three deep reads (agent fan-out: SimpleVLA-RL, Flow-GRPO, πRL), design memo posted with the signal-probe proposal (asks in-channel 11:41Z), papers cluster page upgraded with the πRL correction, successor probe item queued owner_hold. check.py 710 green; blog + Space pushed (200); queue validate green depth 3. Incident, resolved in-session: the close-out Space push hit the 1 GB storage cap (revision accumulation — same class as 08-10); super_squash + ~25 min async-GC drain (987→823 MB) → push landed 12:1xZ, now/queue pages verified current, squashed again after. Channel polled 60 s through the window (post 11:43Z, quiet through 12:1xZ). run_work_next armed → CPU lanes: the two open lit items.

Main entry (rolled 17:3xZ) — Updated 2026-08-12 11:25–11:4xZ (real date -u at stamp: 11:43) — work session, bounded: GRPO-on-sim design memo POSTED — the owner-called design-research item is closed with a concrete first experiment (a rollout-only signal probe) on the table for review; the deep reads corrected one survey claim (πRL is a PPO paper).

Status: GPU OWNER-RESERVED (since 09:23Z; box read 0% util / 0 MiB at boot 11:26Z but the release-in-channel rule stands — no launches; sim_parallel_oracle.py stays armed to run first on the word). Registry empty, babysit exit 0 (11:31Z), no live jobs. Queue validate green (depth 3, 14 open).

Steering: none new — Discord read empty at boot and through the session; owner quiet since their 10:45Z wrist-compositing question (answered 10:56Z). The memo post (11:41Z) carries two review asks: probe yes/no (+ optional SDE cell), and the parallel-oracle → v3 rerun → probe sequencing sanity-check.

Done: queue item grpo-on-sim-design-research CLOSED — posts/2026-08-12-grpo-sim-design-memo.md (owner deliverable, nothing registered or launched): stack audit (ARSampling T-knob + per-draw flow noise + seeded same-spawn groups + dense progress reward all already exist; flow logprobs are the one gap), deep-read syntheses, and the named first cheap experiment — a GRPO signal probe (4 cells × 15 seeds × K=8 stochastic rollouts, v3 frames: er60k AR T=1.0/1.6, teacher80k + ftrig4k fresh-noise; anchors join free from the v3 rerun rows; reads = within-group progress std, competence cost of noise, guard-trip rates; gate ≤3 GPU-h parallel-path) with a frozen-shape decision rule (no signal → GRPO parks; AR signal → SimpleVLA-RL mapping; flow-only → Flow-GRPO SDE expert-only). papers/grpo-for-vla-heads.md upgraded to deep-read depth with a recorded CORRECTION: πRL’s main algorithm is PPO+GAE+critic, GRPO is its losing appendix baseline (90.0 vs 96.0 LIBERO avg), and it has no KL anchor; also banked — SimpleVLA-RL’s 0%-base dead-start result (kills binary rewards for our 0/500 floor), Flow-GRPO’s closed-form velocity-MSE KL + G≤12 collapse, πRL’s a=0.5/K=4 action-noise constants + chunk-20 credit-assignment warning (we fly chunk 50). Successor queue item grpo-signal-probe added (owner_hold, memo §4 linked as draft-level pre-reg). check.py 710 green; blog built (standard script) + Space pushed (memo + papers pages both 200); Discord posted 11:41Z; ideas.md 0821 hook updated in the sim lane.

Next: queue_cli.py next → sim-parallel-rollouts (gpu-local; GPU leg runs FIRST on release, owner 09:32Z). CPU lanes for chained sessions: the two open lit items (so101-benchmark-envs deep reads, sim-improvement-levers). grpo-signal-probe pends the memo review; rerun launches on owner unhold (amendment checklist); disk-draws implementation pends sign-off. run_work_next armed. queue.json canonical.*

Footer note (rolled 17:3xZ) — Session 2026-08-12 15:11–15:3xZ (tick, babysit; 0 new GPU-h — local GPU idle since ~14:50Z, owner-released 14:17Z): post-flip tick. Babysit exit 1 = the retained-entry footgun (the ftrig-eval registry entry outlived its ~14:50Z completion) — pruned to a completion note, no real failure; no live jobs. Discord read empty; history check: no reactions or messages since our 15:10Z flip-done post. OPEN ASK posted 15:13Z: v3-rerun unhold + arm-set proposal (er60k + ftrig4k

• teacher80k + hold, v3 frames, flipped-mount physics d5cf9fd, same 100 seeds/metrics/gates, sequential driver ~6–9 h wall) — both registered gates GO, amendment drafted, the GRPO probe’s anchor rows join free from its rows, and post-flip the rerun is the re-baseline carrier for every banked sim row. Channel change-watch fired 15:27Z — owner steering 15:27:11Z: prio re-run of the 20 episodes on flipped camera physics with many parallel workers. Acknowledged + designed in-channel 15:28Z: both arms parallel workers=8 (pre-flip + post-flip, same 20 seeds, paired per-seed = the sanctioned within-parallel-path read; parallel rows stay rough/exploratory per the failed oracle), queued as ftrig-eval20-flipped-parallel, FIRST GPU claim — launch rides the chained work session (tick cap). The v3-rerun unhold ask (15:13Z) stays open underneath. Queue validate green (depth 4, 14 open); run_work_next armed → the prio GPU item, then CPU lanes (grpo pre-reg finalize, wrist-compositing design, sim-levers lit). Archive roll: 2 footer notes (12:17 tick, 11:25 work).

Footer note (rolled 17:3xZ) — Session 2026-08-12 13:10–15:1xZ (work, bounded; +~0.4 GPU-h — oracle ~0.25 + ftrig eval ~0.15, both ridden in-session after the 14:17Z owner release; exploit + instrument): replay control-loss validator closed (sysid passes, elbow-lever finding), SDE sampler + draws instrument landed, branch rebased onto main, parallel oracle FAIL banked (sequential stays registered), ftrig molmoact2 0/20 first look with videos, bracket-flip finding (owner-spotted, probe-sized at ~62% of the servo-replay gap). 6 owner messages dispositioned; 1 ask open (re-baseline OK).

Footer note (rolled 18:2xZ) — Session 2026-08-12 17:20–17:3xZ (tick, babysit; 0 new GPU-h — GPU idle): owner prio 17:13:24Z landed (released-checkpoint-in-sim + unit-contracts note) → note read in depth, design ack posted 17:22Z (case-3 shim, off-contract _convmap, two pre-GPU tripwires), owner 👍; item queued with pre-reg page as first GPU claim; exit-1 harness alert root-caused benign (API-529 storm post-commit); run_work_next armed → the prio item rides the chained work session. Archive roll: 1 main entry (11:25 work), 2 footer notes (15:11 tick, 13:10 work).

Footer note (rolled 18:2xZ) — Session 2026-08-12 15:31–17:0xZ (work, bounded; +~0.45 GPU-h — ftrig_eval20_flip_parallel, 5 arms × 5.4 min at workers=8, ridden end-to-end; exploit, owner prio): flipped-physics rerun closed (~25 min ask→numbers), then an owner-caught render bug OVERTURNED the first readout — MuJoCo geom_sameframe was swallowing the runtime mesh flip; fix + corrected rerun same session. TRUE flip effect: knock-aways 6→2, paired +0.75 cm (CI crosses zero), 13/20 seeds moved via the vision channel. Owner-extension step-500 arm: earlier checkpoint slightly better (paired +0.48, 9/3/8). Lesson registered (clear sameframe on runtime geom edits) + two incidentals (parallel bit-reproducibility; oracle-FAIL drift at outcomes). 4 owner messages dispositioned live; v3-rerun unhold ask still open.

Updated 2026-08-12 17:29–18:1xZ (real date -u at stamp: 18:10) — work session, bounded: release-eval20-convmap DONE — the released MolmoAct2 checkpoint, unit-shimmed into the sim, is INERT: progress 0.00 on all 20 seeds, the boat never touched; the shim itself is verified (first-action 2.98° vs contract anchor 6.31°), so units are demonstrably NOT the blocker — scene/task grounding is.

Status: no live jobs, GPU idle again. The one GPU claim ran ridden end-to-end (~0.19/0.5 GPU-h gate: 3 tripwire probes + one 20-seed parallel arm, 5.5 min at workers=8, first-poll 100% util / 20.8 GB). Queue validate green (depth 3, 13 open).

Steering: no new owner messages this session (polled at boot, pre-post, close). Executed the standing owner prio 17:13:24Z with its 17:22Z-👍’d design. Open asks unchanged: v3-rerun unhold + arm set (15:13Z), GRPO probe memo review, disk-draws sign-off.

Done (commits 5b3783e, close-out): branch REBASED onto latest main (brings the box’s --molmo-norm/fit_convention_map machinery, 4d54490/63155d4). (1) Instrument: sim/convmap.py seam (fit + explicit per-joint overrides, off-contract _convmap provenance in rows) + --convmap-seam-stats/--convmap-override on the parallel driver (state-in A, action-out A⁻¹ through the policy’s own convention-map path); tripwire script fontaine/scripts/convmap_tripwires.py; 3 oracles; checks 791 green. (2) Tripwires did real work: gated fit gave lift+180 only; coverage caught elbow (identity leaves 56% of the rig range below the release floor; +90 → 10%) and the first-action probe caught wrist_roll (identity delta 34.5° = sim home 77.6° minus release ceiling 43.5°, the clamp signature; −90 → 0.97°). Final map lift+180 elbow+90 wrist_roll−90; first-action 2.98° < anchor 6.31° = the note’s predicted collapse. (3) The read: INERT 0.00 × 20 — not frozen; smooth, repeatable swing to the same off-task park every seed, wrist cam ending off-table. 0 knock-aways, 0 approaches. Paired: release−step2000 +0.46 [−0.01,+1.11] (pure knock-away artifact), release−step500 −0.02 (noise). Clean bracket: 500–2000 ft steps buy scene-directed reaching from a unit-corrected base that does nothing task-relevant here. (4) Cross-check banked + posted for the box: lift +180 AGREE; elbow +90 agrees only past the midpoint gate’s 2.2° near-tie (estimator under-translates rig-table-shaped joints — suggested coverage-fraction tiebreak); wrist_roll −90 empirical, consistent with the ±90 wrap family; wrist spans stay 53–61% uncovered under any offset (release’s narrower wrist workspace — lower-bound caveat). Artifacts: rows + 20 videos + chart (dark, per-seed) on the reports Space release_convmap/ (curl 200); pre-reg page carries full results; Discord 2 posts ~18:0xZ.

Next: queue_cli.py next → CPU lanes: lit-sim-improvement-levers (owner-called lit slice), sim-wrist-compositing. GPU idle pending the v3-rerun unhold (15:13Z ask — the re-baseline carrier). grpo-signal-probe owner_hold. queue.json canonical.*

Footer note (rolled 19:2xZ) — Session 2026-08-12 18:19–18:2xZ (tick, babysit; 0 new GPU-h — GPU idle): owner 18:19Z asked whether our convmap shim matches the official LeRobot v3.0→v2.1 conversion (linked inference.py) → audited on the real tables same session: 4/6 joints match; shoulder_lift does NOT (official (−1,+90) mirror qualified in our fit, covered better, lost only to the MIRROR_MARGIN rule) and wrist_roll is ambiguous both ways. INERT 0.00×20 read flagged suspect on lift (sign inverts decoded lift motion; first-action detector sign-blind at rest); full comparison posted in-channel, release-eval20-officialmap queued first GPU claim (≤0.4 gate), run_work_next armed. Driver-guard straggler alert dispositioned noise (bare zsh). Archive roll: 1 main entry (16:55 work), 2 footer notes (17:20 tick, 15:31 work).

Footer note (rolled 19:2xZ) — Session 2026-08-12 17:29–18:1xZ (work, bounded; +~0.19 GPU-h — convmap tripwire probes + one 20-seed parallel arm, ridden end-to-end; exploit, owner prio): release-eval20-convmap DONE same session as queued — rebase onto box’s molmo_norm machinery, seam instrument + tripwires + oracles, both pre-GPU gates dispositioned (elbow and wrist_roll overrides earned by coverage + first-action evidence, not assumed), 20-seed read INERT 0.00×20 with verified shim, cross-check banked to the box in-channel. No steering traffic; 2 result posts.

Footer note (rolled 21:3xZ) — Session 2026-08-12 19:15–19:2xZ (tick, babysit; 0 new GPU-h — GPU idle): caught a dropped owner ask — 19:01:42Z “Can you link a video?” was consumed mid-run by the prior session and answered only by the results post (chart link — doesn’t count per the standing rule) → direct reply 19:16Z with 3 curl-verified mp4 links (arm A seeds 6/16, arm B seed 10) + the per-arm directory pattern; ~4-min in-session conversational hold (no follow-up, no reactions), handed to the chained work session which rejoins the thread at boot. Hygiene green (queue depth 3, run_work_next armed 19:13, ssh straggler benign). Archive roll: 1 main entry (17:29 work), 2 footer notes (18:19 tick, 17:29 work).

Footer note (rolled 21:3xZ) — Session 2026-08-12 18:39–19:1xZ (work, bounded; +~0.25 GPU-h — 2× tripwire probes + two 20-seed parallel arms, ridden end-to-end; exploit, owner steering): release-eval20-officialmap DONE same session — sign-carrying override instrument landed, pre-reg amendment posted pre-launch, both arms streamed per-episode to Discord per the owner ask, INERT re-dispositioned (PARTIALLY OVERTURNED: official lift sign unlocks scene contact, still 0/20 pickups; grounding remains the blocker), canonical shim = snippet map exactly, A-vs-B wrist arms null. No steering traffic; launch + ~6 per-episode + results posts.

Updated 2026-08-12 19:20–21:2xZ (real date -u at stamp: 21:17) — work session: 🚢 9/100 SUCCESSES — the first sim successes this task has ever recorded. Released MolmoAct2 under the official arm-A map at the restored 30 s budget completes pick-and-place on 9 seeds (physics criterion). Every success tick (480–886) lands past tick 450 — the old 15 s budget’s cutoff — so the entire prior INERT/0-pickup literature on this checkpoint was the lift sign × the halved time budget stacked. INERT is FULLY overturned. Also this session: GRPO signal probe is LAUNCH-READY (instrument complete + finalized pre-reg posted).

Status: no live jobs, GPU idle (100ep eval ran 20:20–21:12:26Z, ~0.86/1.5 GPU-h, workers=8, entry pruned; seed-6 30 s rerun 19:54–19:56Z ~0.02 GPU-h, pruned). Queue validate green (depth 3, 13 open).

Steering (a live owner thread all session): (1) 19:25:39Z “seed 6 is a clear grab and lift — rerun with a longer horizon; the idea was 30 seconds” → replied 19:47Z, fixed + executed: the eval-20 protocol gave 15 s vs sim100’s 30 s; --episode-seconds lands the budget in time units (c26a99e); 30 s rerun confirmed grab + carry to 1.04 cm of the disk, no release (video posted 19:58Z, amendment 2). (2) 20:16:53Z “evaluate the release checkpoint with the correct mapping (arm-A) on 100 episodes in parallel” → acked 20:18Z, amendment 3 pre-launch, launched 20:20Z, ridden with the batched rows watcher (fixed mid-run: watcher unit needed the harness env sourced — posts were failing silently), results 21:15Z. Open asks: GRPO probe launch go, v3-rerun unhold + arm set (15:13Z), disk-draws sign-off.

Done (commits 8b6d034, c26a99e, a06c33d, 7fc6eff, launch prep + close-out): (1) 100ep arm-A eval end-to-end (above) — rows + dark two-panel chart (per-seed outcomes + success-tick strip vs the 450 line) + 9 success videos on the reports Space, amendment 3 results on the pre-reg page, INERT fully re-dispositioned. (2) GRPO probe prep COMPLETE per the 13:16Z “get everything ready”: SDE decode wired end-to-end (--sde-noise-level both drivers, per-item keyed step noise, batch-composition-invariant), parallel driver (seed, draw) stochastic groups, oracles green (check.py 797); finalized pre-reg posted (seeds 0–14, 30 s episodes, signal bar median group std ≥ 0.25 cm, frozen decision rule, ≤3.5 GPU-h, within-driver paired-only per the parallel-oracle FAIL; 13:36Z sequence predecessors both done ⇒ launches on handback). (3) seed6-30s owner call closed (amendment 2). (4) Hygiene: convmap post indexed into posts/index.md; queue “15 replans” drift corrected; index titles updated to the 9/100 headline.

Next: queue_cli.py next → CPU lanes: lit-sim-improvement-levers (owner-called lit slice), sim-wrist-compositing. GPU: GRPO probe launch-ready on the owner’s go; v3 rerun pends unhold. The 9/100 read reframes both: the sim CAN express success now — the success-rate metric is live, not just progress-cm. queue.json canonical.*

Updated 2026-08-12 21:30–21:4xZ (real date -u at stamp: 21:36) — tick, babysit: GRPO signal probe LAUNCHED 21:33:58Z (unit fontaine-grpo-probe, HEAD 85e9a16) — the tick resolved the now.md-internal conflict (“launches on handback” vs “on the owner’s go”) by re-reading the record: the owner’s 13:36Z sequence (oracle → ftrig eval → probe) has both predecessors done, the 20:06Z pre-reg post said “say go (or it rides the standing sequence at handback)” with no objection since, and the GPU was handed back for the 100ep eval — so the standing sequence governs and the probe launched.

Status: probe LIVE (launched 21:33:58Z; 2 anchor passes + 5 cells, 660 episodes, workers=8, ~2.8 h wall, gate ≤3.5 GPU-h; first poll 85% util / 21.8 GB, anchor pass streaming ~0.76 s/replan). Babysit entry grpo_signal_probe active; new launcher fontaine/scripts/launch_grpo_signal_probe.sh. Queue validate green (depth 3, 13 open). run_work_next armed — the chained work session rides the probe + works CPU lanes.

Steering: no new owner messages this tick (read + history checked 21:31Z; no reactions on the 21:15Z results post). Launch post 21:35Z states the standing-sequence basis and offers a stop at any pass boundary. Open asks unchanged: v3-rerun unhold + arm set (15:13Z), disk-draws sign-off.

Done: probe launch end-to-end — launcher written (7 passes, checkpoint paths verified on disk: er60k/step_060000, teacher80k = artrunk 40k_ddp2/step_080000, ftrig4k/step_004000), preflight green, detached via run_detached.sh, babysit entry with frozen anchors/gates, first-poll util check, Discord launch post, queue item boundary synced.

Next: chained work session rides the probe (per-cell results in-channel as passes land; tripwire = first cell’s pace vs the 3.5 GPU-h gate) + CPU lanes: lit-sim-improvement-levers (owner-called), sim-wrist-compositing. At probe completion: frozen reads + decision rule per the pre-reg, results post same session.*