Queue

Generated from fontaine/queue.json — the canonical queue — by fontaine/scripts/queue_page.py (rides every blog_build.sh). Do not hand-edit.

Updated: 2026-08-18T14:35:00Z

Depth call: post-triage: 4 queued executable (pdnorm-endpoint-close gated ~23:3xZ, grasp-sft-bootstrap legs 3/4 GPU-free-gated, sim-clutter-patch-promotion CPU, expert-approach-quasistatic-redesign CPU) + owner-pending-decisions-digest closing this session

16 open (Live 0 · Queued 3 · Blocked 13 · Done 242)

🔴 Live (0)

running right now (GPU or owner-window)

(empty)

🟢 Queued (3)

ready — waiting on a window or a boundary

pdnorm-endpoint-close · gpu-local

pdnorm endpoint close (GPU, gated on step-3000 ~23:4x-00:0xZ 18/19 08): run the frozen endpoint battery in order

boundary: Queued 11:0xZ 08-18 work session at the pdnorm launch (conversion of pdnorm-on-go-runbook’s endpoint residue; charter section 4 refill). Gated on the run reaching step 3000 (ETA ~23:4x-00:0xZ); all instruments frozen pre-data, embeds automatic — the session that picks this up executes, it does not design. Screenwide gate 21 GPU-h (train ~13 spent by then + sim100 pair ~4 + panel/probes). · pre-reg

expert-approach-quasistatic-redesign · cpu

Approach-leg smoothing done right (owner ask 19:42Z 08-16, drop-in ease measured NO-GO 41.7/40.8 vs 58.3 placed n=120

boundary: Queued 20:1xZ 08-16 at the steering slice close. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): DECIDED GO by Fontaine (announced in-channel) — this executes the owner’s own 19:42Z 08-16 smoothness ask; the proposal-awaits-go gate dissolves under no-go-asks. CPU work item: approach droop feedback + exit-on-converged + descend-entry re-tune, bar yield-neutral vs 58.3/54.2/94.3, sample videos posted for owner eyeball at close. Feeds demo-gen v1.1.

grasp-sft-bootstrap · gpu-local

Grasp-rich SFT bootstrap (owner go 22:07Z 08-14 on the 90%-of-seeds question; DRAFT pre-reg posts/2026-08-14-prereg-grasp-sft-bootstrap.md): stage A scripted expert vs privileged sim state (waypoint policy over sim.data object po…

boundary: Queued 22:3xZ 08-14 at the owner go (parallel with the wrist screen; screen owns the GPU window first — it is registered FINAL). Stage A scripted expert is the executable CPU slice any session can take. Interplay frozen in draft SS5: F-null/F-flat on the screen drops the stage-C flow arm; F-live inherits the owner’s wrist-fidelity decision as a registered amendment before stage B. | STAGE-A WIP LANDED 22:4xZ 08-14 (same session, owner parallelize go): sim/scripted_expert.py + tests/test_scripted_expert.py (5 CPU oracles green — IK reachability over the spawn band, perpendicular jaw alignment <6deg, scratch-data purity, eval-seed refusal at DEMO_SEED_BASE 1000). Engineering smoke (NOT the gate read; 4 demo seeds): two-jaw pinch contact 4/4, boat moved from 9-12 cm spawn to ~5.5-6.7 cm of disk center, NO held lift yet -> no successes. Three mechanisms diagnosed + documented in code: (1) IK must solve in jaw-pad-midpoint space (gripperframe sits cm away); (2) free-wrist IK tips the jaw into the table — wrist locked to the P4 keyframe pitch, roll aligned separately; (3) unregularized DLS picks straight-arm poses whose gravity moment SATURATES the sysid’d shoulder servo (force pinned at 3.478 limit) — nullspace posture pull toward the pickup basin added. CONTINUED 22:5xZ same session, 3 more mechanisms fixed: (4) free_dofs=3 made the posture task inert (square jacobian, zero nullspace) -> wrist_flex freed (4 dofs) and the solve lands in the low-torque basin (shoulder 27 vs 39 deg, residual 0.5 mm); (5) droop integrator gated on settled arm + z-floor (it was folding transient error in and driving the target under the table); (6) retreat re-parked in joint space (the IK swing back re-contacted the released boat and tipped it). MEASURED STATUS (6-seed smoke): pinch+hold 5/6 (two-jaw grip continuous through carry), lift to ~1.6 cm HELD, carry to 5.8-6.3 cm of disk center, 0 successes — the traverse crawl cannot bring the dragged boat inside 3 cm before the phase clock (saturated shoulder caps carry height at ~1.5 cm so the hull drags). REMAINING for stage A: carry-height/drag management (higher lift basin or drag-aware traverse target) + drop precision; then the 20-seed >=70% validation AFTER finalization. NOTE for finalization: the sysid’d servo’s saturated-reach envelope is itself a finding — the same static-torque wall the learned policies face at low-forward grasps. || STAGE-A BREAKTHROUGH 23:4xZ 08-14 (b564337): the scripted expert WORKS end-to-end — 10/16 demo-seed successes (engineering smoke, seeds 1000-1015), ~120-175 ticks per success. The carry fix: pure PAN-ARC traverse (pan’s axis is vertical = no gravity load, so the lifted posture’s carry height survives the swing; pan/world-bearing coupling measured NEGATIVE; lower does the radial trim with shoulder/elbow at the held bearing). Failure classes: 3x tipped-at-release ON the disk (2.0-2.2 cm from center — release polish), 1x alignment miss (seed 1005 class), 2x drop short. Success video posted in-channel (id 1537969484541861948). Remaining before the registered 20-seed >=70% gate read: release polish + finalization (objection window). Stage B collection becomes REAL as soon as the gate read passes. || STAGE-A POLISH 00:0x-01:3xZ 08-15 work session: 14/16 demo seeds (d1b2552 settle-before-release: new settle phase lowers pads to RELEASE_Z=0.026 = grasp pad height + disk top z=0.012 so the keel touches before the jaws open — fixed all 3 tipped-at-release seeds, upright 0.88->0.9+; 2435a6d deck-strike jam recovery: hull yaws demanding wrist_roll~0 land the moving-jaw shell on the deck, arm jams pressing 22-40 N ~10 cm up — static gravity is only 0.13 of the servo limit, the stall is CONTACT; fix = physical jam detection -> retreat up-and-back -> one retry on the pi-flipped roll branch; kinematic overlap probes tried and rejected, they cannot separate jamming from grazing branches). Remaining misses: seed 1006 (jam press nudges the boat, retry close misses) + seed 1013 (lower-phase timeout, drop 4.9 cm short). 14/16 = 87.5% >= the 70% gate bar on the smoke set — the REGISTERED 20-seed gate read still runs post-finalization (~0.2 GPU-h). Wrist-screen interplay resolved 01:3xZ 08-15: F-INSTRUMENT (not F-null/F-flat), so the draft SS5 flow-arm drop clause does NOT fire; no wrist-fidelity amendment inherited. GPU free 01:32Z — stage A gate read is the next GPU leg once finalization posts. || FINALIZED 01:4xZ 08-15 (758666f, in-channel post 01:43Z): §6 frozen — gate read on HELD seeds 1020-1039 (>=14/20; 1000-1015 declared as the tuning smoke), stage B 400-kept target from seeds 1000+ (gate >=300, <=4 GPU-h), stage C primary molmoact2 rig-ft class action-expert-only LR 5e-5 gb64 3000 steps, flow arm retained (screen F-instrument != F-null/F-flat) conditional on <=13 gate, convention seam = recomputed dataset table / rig-frame identity / no shim in B-D with state_units provenance. OBJECTION WINDOW OPEN from the 01:43Z post: GPU stages launch at the NEXT work-session boundary absent objection; owner go collapses the window. Stage-A gate read (~0.2 GPU-h, rendered, videos banked) is the first GPU leg; GPU is free (screen closed 01:32Z). || STAGE-A GATE READ EXECUTED 02:0x-02:1xZ 08-15 (this WAS the post-finalization boundary; instrument e371e2b, HEAD provenance in reports/analysis__grasp_sft_stageA_gate.json, 20 videos banked outputs/sim/grasp_sft/stageA_gate/): GATE FAIL 11/20 vs >=14/20 — the held stream caught tuning-smoke overfit. Integrity: rendered == unrendered bit-identical on 3 re-run seeds; miss taxonomy measured (4x lower radial stall ~4.7 cm quiet, 3x mid-carry grip loss, jam-on-both-branches tail). Boundary post 02:14Z with owner options; record-only: 11 clean grasp-lift-place runs contradict F-physics’ mechanistic reading (sim hosts the grasp; gap = expert coverage). || AMENDMENT A1 REGISTERED 02:33Z 08-15 (prereg §7, in-channel post 1538012809114161222): robustness pass 77776fd diagnosed+fixed on the now-burned 1020-1039 (lower place-droop, re-grasp recovery, jam-flip budget 3, retry-scoped dwell+droop reset) — 11/20 -> 16/20 burned, 15/16 smoke, no regressions. FRESH held gate set 1040-1059, protocol verbatim §6, >=14/20, ONE amendment only (second FAIL fires §4 F-physics/Squint with no further tuning). Window: fresh read at this session’s close (>=30 min from the post, ~03:0xZ+) absent objection; stages B-D unchanged, next-boundary launch if PASS. || A1 FRESH GATE READ 03:0x-03:1xZ 08-15 (window closed 03:04Z no objection; HEAD 784a686): GATE PASS 15/20 (bar >=14) on held seeds 1040-1059 — reports/analysis__grasp_sft_stageA_gate_a1.json + 20 videos banked (outputs/sim/grasp_sft/stageA_gate_a1/); 75% fresh vs 80% burned = the robustness pass generalized; 5 misses all the known persistent-jam tail, no new class. STAGE A CLOSED (amendment spent, ladder capped): sim hosts the grasp, no F-physics/Squint. In-channel PASS post 03:13Z (id 1538022772905873439). || STAGE B LAUNCH-READY: collector landed 5b360fa (sim/collect_demos.py, 4 oracles + GL smoke 2 real demos round-tripped). Launch AT THE NEXT SESSION BOUNDARY absent objection per A1: systemd-run –user detached unit, MUJOCO_GL=egl uv run python -m sim.collect_demos --out ~/datasets/fontaine/grasp_sft_demos_v0 --target-kept 400 --max-wall-hours 4 (resume-capable via collect_state.json), babysit entry at launch, gate >=300 kept / <=4 GPU-h; expected ~3.4 GPU-h at the measured 75-80% keep rate. Then stage C per frozen §6 (rig-ft class AR primary + flow arm), stage D sim100. || STAGE B LAUNCHED 03:29:18Z 08-15 tick: owner 👍 on the 01:40Z finalization post surfaced at the tick’s history poll (explicit go, window collapsed per the frozen terms); unit fontaine-grasp-sft-stageb via run_detached.sh (MUJOCO_GL=egl collect_demos –out ~/datasets/fontaine/grasp_sft_demos_v0 –target-kept 400 –max-wall-hours 4), babysit entry live (gate >=300 kept / <=4 GPU-h, progress-log kind, log /home/ubuntu/collect_grasp_sft_demos_v0.log). First poll 03:30Z GREEN: seed 1000 KEPT 129 ticks 2.5 cm in ~40 s incl startup, GPU 50%/909 MiB (render+encode). Boundary session owns: keep-rate + provenance reads at DONE, then stage-C launch per frozen §6 (rig-ft class AR primary, 3000 steps). || RIDE 03:37-07:0xZ 08-15 work session: pace drop diagnosed (mid-ride post 04:13Z, prereg §8 record): TRUE expert rate 62.5% (125/200 CPU-side n=200, seeds 1078-1277), gate reads were n=20 optimism; no collector bug (6/6 misses reproduce exactly fresh), no spawn drift, known jam/pinch-miss taxonomy only. Wall projection ~295-306 kept vs the >=300 gate — BORDERLINE. Ride left untouched per frozen terms. STAGE-C LAUNCH PREP ALL LANDED (f5b120d): launcher launch_local_molmoact2_grasp_sft_stagec_ar.sh runs its own preflight (refuses unless DONE + provenance + kept>=300 + seeds>=1000 + state_units identity). WALL-TICK BOUNDARY INSTRUCTIONS (wall self-stop 07:29:18Z, ‘[collect] DONE (wall…)’ line + provenance banked at finalize): (1) read collect_state.json kept count; (2) if kept >= 300 → run the stage-C AR launcher (it preflights), activate the PREPARED grasp_sft_stageC_ar babysit entry (fill started_utc), first-poll util/rate/vram checks, in-channel launch post; (3) if 290-299 → the priced RECORDED TOP-UP (anchor + §8): post the decision in-channel FIRST, then resume via run_detached.sh fontaine-grasp-sft-stageb-topup ‘MUJOCO_GL=egl uv run python -m sim.collect_demos –out ~/datasets/fontaine/grasp_sft_demos_v0 –target-kept 300 –max-wall-hours 0.5’ (resume-capable, banks + re-finalizes provenance), THEN stage C per (2); (4) if < 290 (well under the measured-rate model) → diagnose before anything. Objection window on the top-up path has been open in-channel since 04:13Z. ||| WALL BOUNDARY EXECUTED 07:29-07:3xZ 08-15 (chained work session): stage B DONE at the 4h wall — 313/400 kept of 486 attempted (64%), gate >=300 GREEN, NO top-up needed, provenance banked. STAGE C AR LAUNCHED 07:29:55Z per instruction (2): preflight PASS (313 ep / 54101 frames ~3.5 epochs, state_units seam green, seeds >=1000), unit fontaine-grasp-sft-stagec-ar, babysit entry ACTIVE (started_utc filled). First poll green: step 20/3000 at 5.2 s/step (rig-ft r1 pace), ETA ~4.3 GPU-h vs the 5.0 stage gate, GPU 100%/38.9 GiB, action_flow_loss 0.4641@20. Endpoint ~11:5xZ -> stage D sim100 via the PREPARED convert+eval launcher (frozen verdict >=20 GRPO_GO / 5-19 ITERATE_BC_ONCE / <5 F_TRANSFER). In-channel launch post id 1538088375716683826. Chain spend ~0.9(A)+4.0(B), C projects ~4.3 -> <=13 gate comfortable incl. the conditional flow arm. ||| STAGE-C ENDPOINT BOUNDARY INSTRUCTIONS (recorded 09:3xZ 08-15 during the ride; ANY session executes mechanically, credit-429 resilience): endpoint ~11:2x-11:5xZ = step 3000 logged + checkpoints/finetune/fontaine_grasp_sft_stagec_ar/step3000 saved + unit fontaine-grasp-sft-stagec-ar inactive. THEN: (1) ./fontaine/scripts/launch_local_grasp_sft_staged_eval.sh convert 3000 (foreground CPU, two-hop -> ~/checkpoints/molmoact2-grasp-sft-stagec-ar-step3000-hf -> ~/checkpoints/converted/molmoact2_grasp_sft_stagec_ar_step3000; verify read_checkpoint_info per launcher note); (2) ./fontaine/scripts/run_detached.sh fontaine-grasp-sft-staged-eval ./fontaine/scripts/launch_local_grasp_sft_staged_eval.sh eval100 (launcher refuses if GPU >1 GiB busy; sequential rollout_sim frozen seeds 0-99 euler-10, log /home/ubuntu/eval__grasp_sft_stageD_ar.log, ~1-1.5 GPU-h); (3) babysit.toml: uncomment PREPARED grasp_sft_stageD_eval entry + fill started_utc, prune stage-C entry with DONE note; first-poll util+seed-rate; in-channel launch post; (4) during the eval ride: uv run python fontaine/scripts/upload_grasp_sft_stagec_delta.py –hf-dir ~/checkpoints/molmoact2-grasp-sft-stagec-ar-step3000-hf (oracle-tested f51eebc, weights-only delta -> fontaine-checkpoints, standing rule); (5) at eval DONE: grasp_sft_staged_reads.py runs inside the launcher -> reports/analysis__grasp_sft_stageD_sim100.json banks the FROZEN verdict (>=20/100 GRPO_GO -> grpo-r2-post-sft finalization per its SS6; 5-19 ITERATE_BC_ONCE -> one B/C round, GRPO item waits; <5 F_TRANSFER -> park GRPO, visual lane binding); (6) verdict boundary post owns the read; THEN fill the results page stage-D section + re-render charts (fontaine/scripts/grasp_sft_chain_charts.py –extract && render; page posts/2026-08-15-grasp-sft-chain-results.md DRAFT-live since 2439869), blog build + Space push. Flow-arm call: OPTIONAL per frozen SS6 budget clause — decide AFTER the AR verdict banks (chain ~0.9+4.0+~4.1+~1.5 = ~10.5 of 13; flow train ~1.3 + flow eval ~1.5 fits ONLY if the verdict makes the comparison decision-relevant; F_TRANSFER reading makes the flow arm moot per SS5 interplay). |||| OWNER OVERRIDE 10:10:20Z 08-15 (supersedes the stage-C endpoint instructions above): stage-C run KILLED at step 2040 (loss 0.0246, green, 2.7 GPU-h; step500-2000 kept) on owner order; owner ALSO registered 10:07Z: their train_lerobot.py RETIRED — all future training via bijou.train/first-class stack. step2000 converted (/checkpoints/converted/molmoact2_grasp_sft_stagec_ar_step2000). LIVE: two-arm probe unit fontaine-grasp-sft-step2000-probe (unseen 0-99 then train band 1000-1099; babysit entry grasp_sft_step2000_probe). REPORT OWED (owner ask): success on training seeds (kept subset of 1000-1099 vs reports/curve__grasp_sft_stageb_collect.json) vs unseen seeds, updates in-channel as arms land. STAGE-D FORMALISM + flow-arm + GRPO-R2 activation ALL SUSPENDED pending owner re-steer after the probe read; R2 draft amendment owed (head seam: token-GRPO trains the discrete head stage-C never touched — owner-confirmed direction: token-SFT arm via bijou.train would precede token-GRPO). The delta-upload script (f51eebc) applies to whichever checkpoint the owner banks (adjust –hf-dir/–dest for step2000). ||||| ARM-1 BANKED 11:51Z 08-15: UNSEEN 0-99 = 28/100 successes (42 moved, mean prog +1.97 cm, 0 strikes) vs anchors ftrig4k ~1 / W0 2 — reports/analysis__grasp_sft_step2000_probe.json, videos outputs/sim/grasp_sft/step2000_probe/unseen/. Posted 1538153322215899198. TRAIN ARM LIVE (seeds 1000-1099, ETA ~13:5xZ, detached unit fontaine-grasp-sft-step2000-probe). NEXT SESSION REMIT: (1) at train.json: re-run fontaine/scripts/grasp_sft_step2000_probe_reads.py (kept-subset split automatic), post the train-vs-unseen comparison in-channel; (2) mid-morning context: quantile class bug FIXED (rewrite_quantile_stats in collect_demos + oracle; dataset stats.json corrected + re-uploaded to fontaine-sim) — the step2000 checkpoint remains trained-on-corrupt; (3) RETRAIN via bijou.train on the corrected table is the value-unlock, OWNER-GATED (their-trainer retired 10:07Z, memory bijou-train-only); prep = port the AE-SFT recipe to bijou.train flags + pre-reg; (4) probe report page / results-page update once both arms banked; (5) step2000 checkpoint upload via upload_grasp_sft_stagec_delta.py –hf-dir ~/checkpoints/molmoact2-grasp-sft-stagec-ar-step2000-hf –dest molmoact2_grasp_sft_stagec_ar_step2000 (NOT yet run — GPU/CPU free next session). || RETRAIN FEASIBILITY PINNED 12:0xZ (this session, CPU read): bijou.train supports the whole route first-class — –objective flow (AE retrain), ar (the token-SFT arm, needs –backbone-text-lr), joint (L_flow + lambda L_CE). SEAM (train.py save_checkpoint region ~2245): molmo_flow NORMALIZES with the SOURCE CHECKPOINT’s baked q01/q99 tables, NOT –train-data stats — a naive –init-from of any existing conversion inherits the CORRUPT table. Retrain prep therefore = (a) build corrected norm_stats.json for tag so100_so101_molmoact2 from the FIXED dataset stats.json (exact quantiles), (b) bijou.convert_molmoact2 the released base HF dir with that table, (c) bijou.train –init-from that conversion (expert_init inherit for warm AE / fresh for clean), –train-data ~/datasets/fontaine/grasp_sft_demos_v0. Pre-reg before launch; owner go required. ||||| PROBE COMPLETE + REMIT DISCHARGED 13:4xZ 08-15 (work session 12:42): train arm banked — FINAL three-way: trained-kept 9/64 (14%), expert-failed 9/36 (25%), unseen 28/100 (28%) — NO memorization signature (inversion ~2 SE, suggestive); reports/analysis__grasp_sft_step2000_probe.json + 200 videos; comparison posted 1538180830470602903; probe ~3.4/4.0 GPU-h, 0 strikes; babysit entry pruned. Remit items DONE: (5) step2000 delta uploaded (590/705, fontaine-checkpoints/molmoact2_grasp_sft_stagec_ar_step2000); (3) retrain prep LANDED 75a0379 — build_corrected_norm_stats.py (5 oracles) -> ~/checkpoints/norm_stats_grasp_sft_v0_corrected (wrist_roll [35.5,94.4]->[+-157.2]), base converted with –norm-stats-from -> ~/checkpoints/converted/molmoact2_base_corrected_stats_v0 (corrected rows verified baked); pre-reg DRAFT posts/2026-08-15-prereg-grasp-sft-retrain-corrected-table.md posted in-channel; (4) probe section + probe_bands chart live on the chain results page. OWNER STEERING 13:35Z: GPU is THEIRS now (‘Nothing right away, I’ll actually need the gpu’) — NO launches until they free it; finish-ping posted at the boundary as asked. RETRAIN DECISION PENDING with owner: continue-from-2k under corrected table (my recommended primary, Q1 reply 1538178705095008267: convert step2000-hf –norm-stats-from corrected, bijou.train –init-from –expert-init inherit, ~2.9 GPU-h, expect early loss spike from the I/O rescale esp wrist_roll ~3x) vs from-base per the posted draft; amendment + launch ONLY on owner go AND GPU freed. ||||| PHASE-4 MERGE + SEAM VERIFY 15:5xZ 08-15 (bb0f036): main 3e4fbeb merged into fontaine (image-augment seam ported to modelling/interface.py; upstream FIXTURE_DIR parents[2]->parents[3] fix carried), check.py 911 green; retrain seams verified post-merge — read_checkpoint_info loads both real conversions, convert_molmoact2 –norm-stats-from + bijou.train –objective/–backbone-text-lr/–init-from/–expert-init intact, convert_legacy smoke on step2000 validate-green; NOTE convert_legacy –replace-stats wants a DatasetStats state-dict (not a norm_stats tag file) so the pre-registered two-hop –norm-stats-from route stays operative for either arm. Launch remains OWNER-GATED (arm pick + route + GPU release), posted 1538209952374595785. |||||| ROUTE C LAUNCHED 01:09:16Z 08-16 (owner steering 00:18Z: GPU released, route C picked RAM-permitting, AR-memory optimization the make-it-fit fallback): registered amendment posts/2026-08-16-amendment-grasp-sft-route-c-joint.md merges the A+B pre-regs — one bijou.train –objective joint run, INSULATED (KI), lambda=1.0, from-base corrected table, decoder-lr 5e-5 + backbone-text-lr 1e-5, 2000 steps gb64 chunks 4, act-ckpt. RAM feasibility MEASURED: CE logits NOT the binder (<1 GiB at micro 2); binder = static fp32 residency (trunk 20.3 + grads 16.9 + AdamW moments 33.7 GiB); joint OOM’d at micro 8 (step 1) AND micro 2 (step 2, moments resident). Make-it-fit landed 8bb5b70: bijou.train –offload-optim (AdamW moments in host RAM, pinned fp32 mirrors, CPU reference kernels — elementwise => EXACT, oracle-pinned bitwise, 5 tests, check.py 908 green). Launch config peak 66.5 GiB / 11.3 s/step. Unit fontaine-grasp-sft-joint-corrected, babysit entry grasp_sft_joint_corrected ACTIVE (gate <=8 GPU-h train), first poll GREEN (100% util, CE 4.33->3.14 by step 10). ETA ~07:3xZ; endpoint = BOTH heads’ probes per amendment SS4 (flow euler-10 unseen 0-99 + train 1000-1099 vs base-9/corrupt-28; token grammar-greedy unseen 0-99 vs R2 bar >=20; base-token anchor leg default-run). Chain gate <=13 total. Morning-veto items posted: init/lambda/insulation/text-lr. A SS3 and B SS2 standalone commands SUPERSEDED; eval protocols inherited verbatim. |||||| ROUTE-C ENDPOINT CAUGHT 06:51Z 08-16 (work session 06:20): train COMPLETE step 2000 clean (~5.7/8 GPU-h, loss_action 0.0245 / loss_aux CE 0.1552 from 4.33); weights-only banked to fontaine-checkpoints/molmoact2_grasp_sft_joint_corrected_step2000 (11.4 GiB). Probe legs: smoke PASSED 07:0xZ (bijou@2000_arhead provenance); leg 1 flow-unseen DONE 08:21Z = 44/100 unseen successes, A SS5 verdict TABLE_FIX_POSITIVE baked (44 > 28+3; anchors base 9 / corrupt-28; 0 strikes; posted 1538462820751114270); owner-request HTML report + 2 videos delivered 08:5xZ (fontaine-reports Space eval__grasp_sft_joint_step2000__flow_unseen100.html, reports.md section); leg 2 flow-train launched 08:21:30Z ETA ~10:0xZ; REMAINING: legs 3 token-unseen / 4 token-base (each ~1.3 GPU-h, launch on previous-leg-inactive per babysit registry), then grasp_sft_joint_probe_reads.py full five-json read (token B SS3 verdict vs R2 bar >=20) + consolidated boundary post + chart-led report page. loss_aux rename to loss_ce_actions proposed to owner 08:53Z (alias-preserving) — await reply before landing. || OWNER ASK 09:06Z 08-16: standard 256-sample bijou.eval report on the joint checkpoint (train256 precedent, corrected-vs-corrupt wrist_roll column is the before/after) — launched 09:13Z detached unit fontaine-joint-eval256 beside the flow-train leg; on completion upload html+json to fontaine-reports + post + reports.md (outranks leg launches; encoded in babysit boundary). || EVAL256 DELIVERED 09:1xZ (chunk MAE 3.24 vs corrupt 12.56, anchors bitwise). LEG 2 flow-train DONE 09:47Z: 42/100 train seeds vs 44 unseen = NO memorization signature (0 strikes). LEG 3 token-unseen launched 09:47:45Z (_arhead verified first poll), ETA ~11:1xZ; leg 4 token-base then reads + consolidated post + chart-led report page remain (chain ~10/13 GPU-h). || GPU QUEUE PAUSED 10:2xZ 08-16 (owner 10:13:32Z: local rollouts of the 2k policy; leg-3 eval stopped mid-seed-24, GPU freed+verified): owner_hold set, no GPU launches until they hand it back in-channel; resume recipe in babysit.toml pruned-entry note. || V1-MIRROR AUDIT 19:1xZ 08-17 (local-dataset-mirrors-restore): NO v1-corpus dependency — stages B/C collect + train over their OWN demos and ~/datasets/fontaine/grasp_sft_demos_v0 (verified on local disk). Launch gap unaffected by the box kill. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): UNBLOCKED — the 10:13Z 08-16 GPU-pause owner_hold is stale (owner released the GPU 00:18Z 08-16; route C, the discriminator and pdnorm all launched since). Remaining scope re-stated: probe legs 3 (token-unseen, grammar-greedy, vs the R2 bar >=20/100) + 4 (token-base anchor) ~1.3 GPU-h each on the joint step2000 checkpoint, then grasp_sft_joint_probe_reads.py five-json read, consolidated boundary post + chart-led report page. Schedule: after the pdnorm step-3000 endpoint battery (~23:3x-23:4xZ 08-18) — GPU-free gate, Fontaine-scheduled. · pre-reg

🟡 Blocked (13)

waiting on a prerequisite, a boundary, or the owner

demo-gen-v1.1-regen · gpu-a100

Demo-gen v1.1 regen on the box (owner 17:07Z: ‘develop the next version of the demos with much smoother trajectories’): same sharded driver + protocol as v1 (spawn v2.1, mix70, 5k kept, seeds fresh stride) with the landed v1.1 ex…

boundary: Queued 18:1xZ 08-16. On box-free + owner answers: rerun collect ladder (2-shard smoke merge oracle first), merge, quantile rewrite, upload as fontaine-grasp-demos-v1.1, card + visualizer link. GPU gate: 30 GPU-h (v1 used 16.9 at worse yield). || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED, host VOID. Blocker (1) (‘box busy until ~21:xxZ 08-16’) is superseded — the box is DEAD, so the gpu-a100 class currently has NO host at all. Surviving blockers: (2) owner sign-off on the disk-visibility realcal exemption and (3) smoothness steering (both already on the owner-pending list), PLUS a new compute call: future box, or local-1xH100 re-platform (v1 spent 16.9 GPU-h sharded on 8x; single-H100 serial is a long exclusive window competing with the training queue + owner policy-server — an explicit owner trade-off, not a default). || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): owner_hold dissolved — blocker (2) DECIDED by Fontaine: disk-mask realcal exemption GO as proposed (material-only measured NO-GO at ~1.1x plate ceiling; disk_appearance=‘realcal’ carries it); blocker (3) folds into expert-approach-quasistatic-redesign (now queued GO — v1.1 waits for the smoother expert to land, that is the point of the version). Remaining real blockers: quasistatic redesign landed + a compute window (single-H100 serial is a long exclusive window — Fontaine schedules it into a genuinely clear gap; an 8x-class box would be owner-owned provisioning, 08-18 digest). · pre-reg

molmoact2-released-stats-rewrite · cpu · ⛔ owner hold

OWNER-TAKEN 15:30:26Z 08-16 (‘I’ll fix the different joint convention at conversion time and let you know’): PREREQ FOUND 15:3xZ 08-16 (measured): released so101 checkpoint’s recorded q01/q99 stats table is in a different joint c…

boundary: || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): genuinely owner-owned — owner took the conversion-time fix 15:30:26Z 08-16 (‘I’ll fix … and let you know’); SFT on the released so101 checkpoint stays parked on their fix. Listed in the 08-18 owner digest.

grpo-r2-post-sft · gpu-local · ⛔ owner hold

GRPO R2 on the grasp-SFT policy (DRAFT pre-reg posted 08-15): fresh Decision-11 run on the first-class stack (bijou/grpo_replay.py over the CONVERTED stage-C endpoint

boundary: DRAFT posted 07:5xZ 08-15 (queue-refill slice of the stage-C ride session; stage C launched 07:29:55Z same session). ACTIVATION RULE: stage-D verdict owns this item — GRPO_GO (>=20/100) -> finalization per prereg SS6 (base count + checkpoint receipt + lr decision + setback wire call + HEAD re-pin + objection window) THEN launch; ITERATE_BC_ONCE (5-19) -> the bootstrap’s iterate arm consumes the GPU slot first, this item waits; F_TRANSFER (<5) -> PARK this item (visual/renderer lane becomes binding per bootstrap SS4). Fresh budget — the bootstrap <=13 gate does NOT carry over. || AMENDMENT A2 REGISTERED 14:4xZ 08-15 (SS8): token-SFT arm pre-reg DRAFT posted (posts/2026-08-15-prereg-grasp-sft-token-sft-arm.md, per A1 decision 2) — if the owner routes token-GRPO, R2 RE-BASES on that arm’s endpoint and the activation bar becomes the arm’s primary read (unseen sim100 >=20/100 on the DISCRETE head, greedy decode); the stage-D flow-head verdict no longer activates this item. Table lineage inherited (fast codec normalizes token targets with baked q01/q99 — corrected-base init mandatory). Checkpoint receipt re-spelled per owner main 4fd6875 (VLA format: convert_legacy + validate_checkpoint, stats_note provenance). || GPU QUEUE PAUSED 10:2xZ 08-16 (owner 10:13:32Z: local rollouts of the 2k policy; leg-3 eval stopped mid-seed-24, GPU freed+verified): owner_hold set, no GPU launches until they hand it back in-channel; resume recipe in babysit.toml pruned-entry note. || V1-MIRROR AUDIT 19:1xZ 08-17 (local-dataset-mirrors-restore): NO dataset dependency at all — consumes the converted stage-C endpoint checkpoint; reward models are banked. Launch gap unaffected by the box kill. · pre-reg

renderer-pbr-wrist-pilot · cpu

Renderer-class wrist pilot (the decision read the 16:4xZ 08-14 brief recommends): re-export ONLY the wrist-visible arm meshes (gripper, camera mount, forearm links) STL->decimate->xatlas-UV->OBJ via the convert_benchy.py pipeline…

boundary: Queued 16:2xZ 08-14 at the decision-brief close (from the decision-brief close). OWNER-GATED by design: the brief prices the decision as the owner’s call — do not start the asset work without an in-channel owner go on the pilot (it commits tier-2 engineering, not just a read). On go: pre-reg required before the read (bands frozen from the banked run-3 anchors 0.713/0.523/[0.86,0.89] + calibration directional gate); renderer choice recorded in the pre-reg. No launches until the in-channel GPU release; embeds fit any cleared gap. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): the owner-go gate dissolves — tier-2 engineering commitment is Fontaine’s call under the delegation. DECIDED: DEFERRED — sim hosts the grasp (stage-A F-instrument finding) and the table-fix read was positive, so the renderer tier is not binding for the current frontier. Reopen if the visual lane becomes binding again (e.g. rig-transfer evidence).

sim-joint-pose-lens-refit · cpu

CONDITIONAL follow-up (lens gate read 03:4xZ 08-13): jointly refit the wrist camera pose AND the full lens model (center + curvature) against the 150 pinned real frames

boundary: Queued 03:4xZ 08-13 at lens-item close. owner_hold: run only if amendment 6 lands and wrist gap persists; ~0.02 GPU-h per probe read. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): owner_hold relabeled — the trigger is technical, not an owner ask: run only if the amendment-6 curve-only swap lands AND the wrist gap still reads as geometry. Fontaine reads the condition at that boundary; ~0.02 GPU-h per probe read.

idea4-fjoint-rung-finalize-exec · gpu-box

#4 F-then-joint rung FINALIZE + EXECUTE (per the posted DRAFT posts/2026-08-09-prereg-fjoint-rung.md): (1) CPU instrument DONE 15:0xZ 08-09 (check.py 596 green, 12 new oracles tests/test_fjoint_init.py): materialize_fjoint_init.p…

boundary: instrument LANDED 15:0xZ 08-09 (draft Instrument section updated in place — finalization condition 1 satisfied); LAUNCH gated on owner go (draft finalization condition 2) + box free after the adamc_100k endpoint + chained panel (~08-12 ~17:00Z+); sequencing vs the adamc stage-2 frozen attach is an owner call at finalization — do NOT launch on the default | RE-STATUSED blocked/owner_hold 23:0xZ 08-09 queue audit: its own text gates launch on an explicit owner go + box-free; ALSO STALE: ‘post-adamc-endpoint ~08-12’ predates the adamc owner-kill — box is now er-60k’s to ~08-11 ~12:00Z, and F2’s ‘0.92 s/step measured’ cost row is attach_F-class (correct for the frozen F2 arm, but re-check the J-arm assumption at finalization). || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED (owner_hold). Box dead: ‘box execution post-adamc-endpoint’ and ‘box free’ clauses are VOID. The CPU instrument (materializer + guards, landed 15:0xZ 08-09) survives intact. Cost rows are box-A100-measured (F2 0.92 s/step, J ~4.0 assumed) — re-measure on the actual host at finalization. Real blocker: owner go + a compute call (future box, or an explicit local-1xH100 re-platform with a J-config fit preflight — never fit-tested single-GPU). || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): the owner-go + sequencing gates dissolve — Fontaine’s call now. DECIDED: DEFERRED behind the grasp lane; a local re-platform needs a J-config fit preflight (never fit-tested single-GPU) + re-measured cost rows at finalization. Reopen when the F-then-joint question re-enters the frontier. · pre-reg

docs-pass-followups-0809 · cpu · ⛔ owner hold

Docs pass tail (from the 08-09 staleness audit, deferred at my discretion): (1) sweep agent-internal vocabulary out of shipped bijou/ source comments (eval/leakage.py ‘fontaine/charter.md’, eval/subgoal_scoring.py ‘#6 rung (b)’,…

boundary: any GPU-busy window; low priority vs stage-2 memo + lit radar | RE-STATUSED blocked/owner_hold 23:0xZ 08-09 queue audit: subitems 1-4 done; the only remainder (5) wandb API key rotation is an OWNER-side action (flagged in-channel at the docs-pass close-out) — nothing for the queue pointer to execute here. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): remainder (wandb API key rotation) is an owner-side credential action. Listed in the 08-18 owner digest.

actckpt-lineage-flip-ladder · gpu-box

#20 activation-checkpointing lineage-flip LADDER execution (gpu-box, <= 2 GPU-h gate): run the 4-rung box ladder per 2026-08-09-prereg-actckpt-lineage-flip.md (control B12c6 no-ckpt / ckpt-c6 / ckpt-c1 candidate / record-only max…

boundary: blocked on BOTH: (a) attach screen (F then K) off the box, (b) a scheduled fresh non-attach AR-trunk launch to ride (100k continuation / arch-batch arm / #17 vision-unfreeze, whichever the owner green-lights); result rides that launch’s pre-reg as a named amendment || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED, RE-SCOPED. Both original blockers are VOID (the attach screen chain and any ‘scheduled box launch to ride’ died with the box). The ladder itself is platform-specific instrumentation (s/step + alloc-peak on box A100s) — its measurements do NOT transfer to the H100. Real blocker restated: a scheduled launch ON ANY PLATFORM that needs activation-checkpointing to fit (nearest candidate: the per-dataset-flow-norm rerun if its eff-batch exceeds the discriminator-96 fit). At finalization: re-pin baselines and re-derive the 4 rungs on the actual host; the frozen decision rule (ADOPT iff r2 <= 1.02*r0 AND alloc peak bound) carries, the box-derived 63-GiB constant does not. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): no owner gate here — the technical trigger (a scheduled launch that needs activation-checkpointing to fit) stands unchanged; nearest candidate remains a future recipe exceeding the discriminator-96 fit. · pre-reg

idea17-molmo2-vision-unfreeze-execution · gpu-box · ⛔ owner hold

#17 molmo2 vision-unfreeze warm-start two-arm screen EXECUTION (box, 4xDDP, sequential frozen-first)

boundary: opens after the attach-screen chain (~08-09+) AND an explicit owner go (owner-steered execution per the 17:04Z steering disposition); needs a free box window and the finalization amendment posted first || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED (owner_hold). Box dead => the registered 4xDDP platform is gone and the box-resident step_040000 source now lives only in the HF evacuation (verify presence in fontaine-checkpoints at reopen). vu5k_mem_ready and both prepared launchers are box-A100-specific — the 150-step memory smoke and ladder-rung choice must be REDONE on whatever platform a reopen names. Real blocker: owner compute call (multi-GPU box) + owner go; this cannot re-platform to the local 1xH100 as registered (4xDDP sequential two-arm design). || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): the explicit-owner-go leg dissolves under no-go-asks; what remains is genuinely owner-owned: the registered 4xDDP two-arm design needs a multi-GPU box (provisioning = owner call, 08-18 digest). On a future box: redo the memory smoke/ladder on that platform, verify step_040000 in fontaine-checkpoints, refinalize; launch then becomes Fontaine’s decision. · pre-reg

arm-a-img280 · gpu-box

arch-batch arm A img280 40k (box) — HELD: fresh owner go required before launch

boundary: box GPUs occupied by molmo2_ar40k until ~2026-08-08 regardless of hold || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED (owner_hold). The old boundary (‘box GPUs occupied by molmo2_ar40k until ~08-08’) is VOID — the box is dead. Real blocker: fresh owner go AND a compute call — a future box, or an explicit local-1xH100 re-platform which would need a fit preflight first (the arch-batch img280 recipe was never fit-tested single-GPU) and a re-derived cost gate. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): the fresh-owner-go gate dissolves. DECIDED: DEFERRED by Fontaine — the arch-batch img280 screen is no longer the decision frontier (sim/grasp lane is) and it has no platform (never fit-tested single-GPU; box dead). Parked unless the frontier returns or a box exists (owner-owned provisioning, 08-18 digest). · pre-reg

ae-on-our-trunk-prereg-draft · cpu · ⛔ owner hold

AE-on-our-trunk pre-reg draft (CPU): the owner’s action-expert implementation (every-layer KV off our AR trunk, exchange 11:56Z 08-11) evaluated/trained against er_60k/step_060000 (the new reference trunk)

boundary: UNBLOCKED 17:2xZ 08-11: the rebase landed (main @36afff0 merged, check.py 688 green) — draft against ActionExpertConfig frozen/staticmethod-factory shapes at HEAD. Executable CPU next. DEPRIORITIZED 17:4xZ 08-11 behind the sim lane (owner 17:07Z: next-day focus is simulations). | SUPERSEDED-PENDING-CONFIRM 18:1xZ 08-11: owner design record §8.13 (main @128a863) IS the full AE-on-our-trunk design — its step 7 registers ‘molmo_flow-from-scratch on our AR trunk + bijou prompt vs §2.1 at matched compute’ with separate pre-regs post-migration. This draft item is absorbed by the molmo-flow migration lane unless the owner says the §2.1-style few-stream AE still wants its own pre-reg. | 18:15Z owner call reinforces: molmo_flow lane is owner-side; this stays absorbed/parked. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): genuinely owner-owned via absorption into the owner-side molmo_flow lane; parked with it. Listed in the 08-18 owner digest.

molmo-flow-step1-cli-rule · cpu · ⛔ owner hold

molmo_flow migration STEP 1 — CLI inferred-args rule (CPU, per owner design record docs/architecture.md §8.13, main @128a863, approved 08-11): –resume refuses every architecture-determining flag (run-policy flags stay legal); –…

boundary: OWNER CALL 18:15Z 08-11 (‘your focus is 100% simulations, I have a local agent working on the molmo_flow migration plan’): the migration lane is OWNER-SIDE — do not execute; this item + steps 2-8 parked until the owner hands the lane back or asks for review. Priority question resolved: sim lane 100%. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): genuinely owner-owned — the migration lane is owner-side (their local agent, 18:15Z 08-11); parked until handed back or review is asked. Listed in the 08-18 owner digest.

rig-mixture-screen-exec · gpu-box

Rig-mixture screen EXECUTION (pends the owner compute call — pre-reg draft posts/2026-08-11-prereg-er60k-rig-mixture.md posted + in-channel 08-11): finalize the pre-reg (freeze probe bars, panel band, param sheet in-channel, obje…

boundary: BLOCKED on the owner compute decision (ask posted in-channel 08-11 ~17:0xZ); unblock by flipping owner_hold when the owner picks A/B or provisions compute. UPDATE 17:4xZ 08-11: option-B preflight FITS (69.2 GiB peak, ~12.0 s/step => ~33.5 h for 10k steps single-H100; –dataset-repeat live-fired, 4.49% combined share vs ~4.97% pre-reg estimate — reconcile before exec) BUT the owner sim pivot (17:07Z) dedicates the local GPU to inference => treated as C-defer unless the owner calls A (new box); results posted in-channel 17:35Z. || BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): STAYS BLOCKED (owner_hold). Real blocker restated post-box-kill: option A now explicitly means PROVISIONING A FUTURE BOX (the 08-11 ‘new 4x box ~28 GPU-h gate 32’ pricing survives as the template — no current box exists); option B local-1xH100 remains technically valid (08-11 preflight: fits at 69.2 GiB peak, ~33.5 h wall) but the local GPU is contended (owner policy-server + our run queue) and the owner sim pivot made C-defer the standing state. Unblock = an explicit owner A/B call. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): the A/B/C ask dissolves — scheduling is Fontaine’s. DECIDED: C-defer stands for now (option B fits local but costs ~33.5h exclusive H100 wall against the live grasp/pdnorm lane + owner rig-serving; not the next decision-changer). Reopen = Fontaine schedules option B into a clear >=34h window when the rig lane becomes the frontier; option A (new box) is owner-owned provisioning (see 08-18 digest). · pre-reg

✅ Done (242)

closed — the full record stays in each fold

clutter-patch-promotion-regate · gpu-local

Clutter-patch promotion re-gate (~0.02 GPU-h, registered with the 08-13 in-channel gate pre-reg (05:23Z), report 2026-08-14-appearance-screen-report.md): render the pinned 20x5 slots through the PRODUCTION patched path (SO101Sim…

boundary: Queued 14:1xZ 08-18 at the promotion close. Small GPU job; runnable alongside the pdnorm run only if VRAM headroom is proven (~13 GiB free at queue time, encoder-only embed), else first in the post-endpoint GPU window before grasp-sft-bootstrap token legs. · pre-reg

owner-pending-decisions-digest · cpu

Decision-status sweep + digest under the 10:25Z delegation (CPU, un-gated): the old premise (~20 of 22 open items pend an owner call) is RETIRED by ‘Don’t ask for my GO, you decide what to run’

boundary: Queued 09:2xZ 08-18 work session (as owner-pending-decisions-digest); RE-SCOPED 11:0xZ 08-18 work session at the pdnorm launch: the GO-ask entry is resolved (delegation, launch executed) and the delegation flips the digest’s frame from ‘what do you need from me’ to ‘here is what I decided + the short list that is genuinely yours’. Value: converts the blocked backlog into motion under the new standing rule. || EXECUTED + CLOSED 13:4xZ 08-18 work session: all 20 blocked/owner-hold items re-triaged under the delegation — 4 closed (per-dataset-flow-norm-rerun-run superseded-by-execution, grasp-sft-token-sft-arm superseded-by-route-C, sim-arm-photometrics-promotion decided NO-GO, sim100-v1-rerun superseded-by-outcomes), 3 unblocked to queued (grasp-sft-bootstrap probe legs 3/4, sim-clutter-patch-promotion GO, expert-approach-quasistatic-redesign GO), 6 converted owner_hold -> Fontaine-decides deferrals with stated reopen conditions, 5 genuinely owner-owned annotated. Decision post 1539265964892360786 + owner digest post 1539265974660890717. Queue validate green depth 5, 17 open after this closes.

pdnorm-on-go-runbook · cpu

Consolidate the pdnorm ON-GO checklist into an executable runbook (PRE-GO prep, CPU): fontaine/notes/pdnorm-on-go-runbook.md with the exact ordered copy-paste commands for GO-day

boundary: Queued 10:1xZ 08-18 work session (refill at the report-seam-line close, charter section 4). CPU, PRE-GO landable; collapses GO-day improvisation to zero — the week’s landed automations get exercised in order the moment the owner says GO. | CLOSED 11:0xZ 08-18 work session, SUPERSEDED BY EXECUTION (the 10:28 tick’s now.md note): the ON-GO checklist was executed live this session instead of transcribed — GO decided by Fontaine under the 10:25Z owner delegation (no-go-asks), pre-reg stamped+posted (commit a97636c, post 1539224047244546171), fit smoke green (62.18 GiB peak, 15.29 s/step, ckpt metadata q01q99_per_dataset), full run launched 11:02:21Z (unit fontaine-v2-joint-pdnorm), babysit.toml entry live. The runbook’s endpoint-side residue converts to the new pdnorm-endpoint-close item (refill below). · pre-reg

pdnorm-endpoint-report-seam-line · cpu

Wire the estimator-seam cross-check into the pdnormendpoint report preset (PRE-GO prep, CPU): grasp_sft_joint_unseen_report.py grows a –truthfit-json arg (preset-default path reports/analysis__pdnorm_endpoint_truthfit_wear.json,…

boundary: Queued 10:0xZ 08-18 work session (refill at the truthfit-crosscheck close, charter section 4). CPU, PRE-GO landable; rides the same GO-path automation pattern as endpoint-report-ladder-embed. CLOSED 10:1xZ 08-18 work session: –truthfit-json landed with the preset default + quiet/loud split exactly as queued; estimator_seam_line renders ladder_read verbatim (native -> truthfit, seam delta, truthfit ladder disc-1000/released/null, released-row optional) under the ladder figure, above the tiles; foreign-json refusal (missing seam keys is loud). 7 oracles added to tests/test_grasp_sft_joint_unseen_report.py (render verbatim, released-omitted, foreign-json refusal, under-ladder placement, seam-without-sidecar independence, preset default path, quiet-absent, loud-explicit-missing); check.py 1045 green. Pre-reg calibration note updated: the ON-GO report carries the estimator-consistent read with no manual composition. · pre-reg

pdnorm-endpoint-truthfit-wear-crosscheck · cpu

Endpoint truth-fit wear cross-check (ON-GO rider, CPU, record-only): the pdnorm endpoint wears its NATIVE per-dataset training-table rows, while the ladder’s 27.40/27.14 wear per-repo rows fit on the panel’s own truth

boundary: Queued 09:0xZ 08-18 work session (refill at the released-row-honest-wear close, charter section 4). CPU; the estimator seam is the one wear caveat the ladder still carries after the same-wear re-expression — this makes endpoint-vs-ladder estimator-consistent on GO. CLOSED 10:0xZ 08-18 work session: instrument landed dry as the sibling pdnorm_endpoint_truthfit_rewear.py (NOT an extension of released_row_rewear — git audit: native rows come from each panel repo’s meta/stats.json, the rows StatsAttachedDataset attaches at eval; the checkpoint’s per_dataset_stats holds only the 3 TRAINING repos and is inert on the panel — queue wording drifted). Per-repo inversion identity enforced per repo (swapped-rows oracle), degenerate-span joints pinned to midpoint with an at-the-constant bound (5 real (repo,joint) pairs in the panel will exercise it), scheme + contract-path + anchor + midpoint-null identity guards; 7 oracles in tests/test_pdnorm_endpoint_truthfit_rewear.py, check.py 1037 green; all 838 panel repos’ native rows load-verified. Pre-reg calibration note names the instrument; the READ rides the ON-GO endpoint npz. · pre-reg

endpoint-report-ladder-embed · cpu

Wire the panel anchor-ladder figure into the pdnormendpoint report preset (PRE-GO prep, CPU): grasp_sft_joint_unseen_report.py grows a –ladder-b64 arg (or preset-default path reports/pdnorm_panel_ladder.b64) rendering the ladder…

boundary: Queued 08:4xZ 08-18 work session (refill at the panel-ladder-chart close, charter section 4). CPU, un-gated, draft-only prep; composes with the pdnormendpoint preset landed 07:3xZ. On GO the endpoint session stamps the chart then builds the report — this item just removes the manual embed step. | DONE 09:2xZ 08-18 work session: –ladder-b64 landed on grasp_sft_joint_unseen_report.py plus ladder_section() (payload asserted base64-PNG) — pdnormendpoint preset defaults to the chart script’s sidecar path reports/pdnorm_panel_ladder.b64, section renders directly below the meta line’s textual ladder (above tiles and the anchors chart); explicit flag loud on a missing file, preset default quiet-skips (reports/ is gitignored, sidecar regenerable, the endpoint session re-runs the chart first anyway). Real 08-18 sidecar smoke-rendered through the section. Oracles +6 in tests/test_grasp_sft_joint_unseen_report.py (embed payload, non-PNG reject, below-meta placement, preset-default path, quiet-absent, loud-missing); check.py 1030 green. Pre-reg chart note updated: the report build after the –endpoint stamp needs no manual figure step. · pre-reg

released-row-honest-wear-reexpression · cpu

Released-row honest-wear re-expression (PRE-GO, record-only, CPU): the released checkpoint’s panel row (25.89, banked 08:22Z 08-18) wears its own released global table, while the ladder’s same-model reference 27.40 wears honest p…

boundary: Queued 08:2xZ 08-18 work session (refill at the released-panel-row close, charter section 4). CPU, un-gated, npz + instrument already local; wants to land before the pdnorm endpoint read so the anchor ladder is wear-consistent. If GO lands first, this rides the training window as a CPU work item. | DONE 09:0xZ 08-18 work session: released_row_rewear.py landed (sibling of disc1000_row_audit — anchor-refusing, exact-inversion oracle worst 1.5e-05 deg, midpoint-null identity anchor vs the SFT audit json PASSED: panels element-identical, honest rows byte-identical, null 25.154476 both sides). SAME-WEAR READ: released honest-wear 27.14 vs SFT 27.40 (delta +0.26) — wear held fixed, the SFT checkpoint ended within noise of where it started (answer to the item’s question: marginally worse, noise-scale), and BOTH rows are slightly worse than the 25.15 repo-midpoint null. Per-joint: shoulder_lift 68.9->66.1 / elbow_flex 43.1->36.2 down, shoulder_pan/wrist rows trade up — same two dominant motors. analysis__released_row_honest_wear.json pushed to fontaine-reports (curl 200); reports.md re-expression bullet + caveat-dissolved note; prereg calibration ladder updated (released rung now same-wear 27.14, own-table 25.89 kept in the note); ladder chart + its oracle updated, PNG + b64 re-rendered; oracles tests/test_released_row_rewear.py x5 green; check.py green. · pre-reg

pdnorm-panel-ladder-chart · cpu

Panel anchor-ladder chart for the pdnorm endpoint read (PRE-GO prep, CPU): a small standalone dark-mode chart script (house eval-report scheme, owner standing preference: chart-led reports) rendering the wear-audit panel ladder a…

boundary: Queued 07:3xZ 08-18 work session (refill at the endpoint-report-preset close, charter section 4). CPU, un-gated, draft-only prep; the endpoint session (or the released-row session) stamps the FILL slots. If GO lands first this waits for the endpoint session and lands with the endpoint report. CLOSED done 08:4xZ 08-18 work session: pdnorm_panel_ladder_chart.py landed (PNG fontaine/blog/src/img/pdnorm/panel_ladder.png + b64 sidecar reports/pdnorm_panel_ladder.b64; –endpoint stamps the FILL slot on GO). Queue-vs-git drift resolved per the audit rule: the released-ckpt row was measured 25.89 last session, so it renders as a real rung; only the pdnorm endpoint slot stays FILL-AT-ENDPOINT. Figure embedded in the pre-reg draft; oracle tests/test_pdnorm_panel_ladder_chart.py (rungs + labels + placeholder + PNG/b64 roundtrip); check.py 1020 green. · pre-reg

released-ckpt-k4l2-panel-row · gpu-local

Measure the pre-SFT released checkpoint’s k4l2 panel row (PRE-GO, record-only): the pdnorm pre-reg names ‘vs the pre-SFT released checkpoint’s panel row’ as an informative endpoint comparison, but that row has never been measured

boundary: Queued 07:1xZ 08-18 work session (refill at the guard-recalibration close, charter section 4). GPU (short panel eval, ~0.5 GPU-h by the disc-1000 r2 rate), un-gated, record-only — H100 is idle-by-design for the owner-gated pdnorm launch, and precedent (baseline sim100 + panel legs, 04:xxZ 08-18) is that short pre-GO baseline evals use the idle window; check compute-apps for the owner policy-server before launch, abort guard as on the disc launcher. If GO lands first, pdnorm launch takes the GPU and this waits for the training window’s eval slack or the endpoint session. · pre-reg

pdnorm-endpoint-report-preset · cpu

pdnorm endpoint report preset (PRE-GO prep, CPU): add a ‘pdnormendpoint’ preset to grasp_sft_joint_unseen_report.py so the ON-GO endpoint report is one command

boundary: Queued 07:0xZ 08-18 work session (refill at the paired-section close, charter section 4). CPU, un-gated, draft-only prep; wants to land before GO so the ON-GO checklist’s endpoint report is one command. If GO lands first, the endpoint session adds the preset inline instead — this item then closes as absorbed. | DONE 07:3xZ 08-18 work session: ‘pdnormendpoint’ preset landed — anchor rows base 9 / probe 44 / disc1000 baseline 11 (paired arm’s own row, DISC1000_ANCHOR constant), meta line carries the frozen decision grid (<=10 broken-class band / 11-19 ambiguous / >=20 exonerates the mix) + the wear-audit panel anchor ladder (27.40 re-worn / 25.15 midpoint null / 8.37 state-copy), paired_band_note carried over verbatim, checkpoint/launch/GPU-h/verdict fields FILL-AT-ENDPOINT placeholders. Oracle test_main_pdnormendpoint_preset_anchors_bands_and_paired_section asserts rows structurally + tile join + bands + ladder + placeholders + –paired-json composition/ordering; check.py 1016 green. · pre-reg

pdnorm-prereg-panel-guard-recalibration · cpu

Recalibrate the pdnorm pre-reg’s panel expectations from the wear audit (PRE-GO, draft-only edit): the +0.05-vs-baseline panel guard was framed against 58.14, of which ~half is pure serving-window re-expression (audit: re-worn di…

boundary: Queued 06:3xZ 08-18 work session (refill at the row-audit close, charter section 4). CPU, un-gated, draft-only; wants to land before the pdnorm endpoint panel read is interpreted (same consumer as the audit). If GO arrives first, the ON-GO checklist proceeds unchanged — this item then lands as a record-only addendum. | DONE 07:1xZ 08-18 work session: draft-only edit landed in the pre-reg’s panel-baseline section — the two candidate mechanisms recorded as resolved by the wear audit (~half serving-window re-expression, ~half genuine collapse), and the calibration note recalibrated with the interpretation-anchor ladder 27.40 (re-worn disc-1000, same-model wear-corrected reference) / 25.15 (repo-midpoint null, carries-any-signal bar) / 8.37 (state-copy, the real bar), plus the wear-asymmetry warning (pdnorm endpoint wears honest rows; disc-1000’s 58.14 wore the demos global table — honest wear alone is worth ~a halving). The frozen +0.05 guard untouched. check.py 1015 green. · pre-reg

pdnorm-endpoint-report-paired-section · cpu

pdnorm endpoint HTML report: paired-vs-baseline section — wire the frozen sim100_paired_read.py output (success-count delta CI, discordant-seed McNemar table, progress delta CI vs disc1000_baseline/flow_unseen.json) into grasp_sf…

boundary: Queued 06:0xZ 08-18 work session (refill at the paired-read-instrument close, charter section 4). CPU, un-gated; nice-to-land before the pdnorm endpoint read but the bare-json paired read (already frozen) suffices if the endpoint arrives first. | DONE 07:0xZ 08-18 work session: grasp_sft_joint_unseen_report.py grows –paired-json (frozen sim100_paired_read output rendered as a ‘Paired read’ section: delta tiles with CI wording + McNemar discordant-seed chart, house dark scheme; disc1000 preset carries the 11-19 ambiguous-band note), oracles tests/test_grasp_sft_joint_unseen_report.py x4 green, check.py 1015 green (commit 4cfefae). Smoked on the banked probe-vs-disc1000 pair (44 vs 11, +33 CI [22,44], p 1.0e-07) then the CANONICAL disc1000 flow_unseen100 report regenerated in place with the section and re-pushed to fontaine-reports (curl 200, section verified live); reports.md paired-read bullet extended. The pdnorm endpoint report gets the same section from its own frozen paired json. · pre-reg

disc1000-panel-row-audit · cpu

Instrument audit for the disc-1000 panel row (58.14): determine which normalization row each panel item WORE in the k4l2 leg

boundary: Queued 05:1xZ 08-18 work session (refill at the panel-leg close, charter section 4). CPU, un-gated; wants to land before the pdnorm endpoint panel read is interpreted. | DONE 06:3xZ 08-18 work session: disc1000_row_audit.py landed, oracle tests/test_disc1000_row_audit.py x7 green; reports/analysis__disc1000_panel_row_audit.json pushed to fontaine-reports (curl 200), reports.md disc-1000 section extended + panel-leg hedge resolved. WEAR FACT: checkpoint records the MERGED scheme (normalization q01q99, per_dataset_flow_norm false) — the eval never consults per-dataset rows; every item wore the recomputed demos-only global table (no lookup to miss). DECOMPOSITION on the 58.14 (anchors reproduced 1e-3): 85.8% of core truth elements outside the worn box but box FLOOR only 14.40 and predictions NOT edge-saturated — the wear hurts via affine re-expression, not the clamp; re-wear through honest per-repo rows (838) halves to 27.40 (released table 54.40); BUT re-worn model < constant repo-midpoint null 25.15, and preds sit 22.6 from the demos action mean (truth 58.2 away). Verdict: ~half serving-window, ~half collapse to the demos prior (state-crush + forgetting inseparable post-hoc). pdnorm panel read reference points: 27.40 / 25.15; real bar stays state-copy 8.37. · pre-reg

sim100-paired-read-instrument · cpu

Paired per-seed sim100 read instrument: compare two flow_unseen jsons on the shared 100 seeds

boundary: Queued 04:3xZ 08-18 work session (refill at the sim100-baseline close, charter section 4). CPU-side, un-gated; wants to land BEFORE the pdnorm endpoint read so the instrument is frozen pre-data. | DONE 06:0xZ 08-18 work session: sim100_paired_read.py landed (imports sim100_reads.bootstrap_ci — one bootstrap implementation, seed 0 / 10k resamples), oracle tests/test_sim100_paired_read.py x7 green (seed alignment by value not order, mismatch/duplicate refusal, hand-pinned McNemar table + exact p, count-CI scaling + determinism); retro read banked: reports/analysis__sim100_paired_probe_vs_disc1000.json + pushed to fontaine-reports (curl 200) — probe 44 vs disc1000 11 = +33 successes CI95 [22,44], discordant 37-vs-4, McNemar exact p ~1.0e-7, progress +3.57 cm [2.66,4.46], 80% win rate. Instrument pointer frozen into the pdnorm draft’s calibration note pre-data. · pre-reg

disc1000-k4l2-panel-leg · gpu-local

k4l2 panel leg (+prediction npz dump +–report HTML) for grasp_sft_v2_demosonly_1gpu_disc/step_001000: the pdnorm pre-reg’s tertiary read pairs the pdnorm endpoint against ’the discriminator’s banked step-1000 on the shared frame…

boundary: Queued 02:3xZ 08-18 work session (refill, charter section 4). Un-gated (eval of a banked checkpoint, not an experiment arm); GPU-guarded on the owner policy-server check. Runnable any time before the pdnorm endpoint read; if the pdnorm run is live when picked up, it waits (single H100). || RUNNING 04:30:39Z 08-18 (unit fontaine-disc1000-k4l2-panel-r2, babysit-registered): attempt 1 (04:25Z, batch 12/workers 8) input-starved at 66 f/min => killed 4.7 min in per the first-poll rule; r2 at batch 32/workers 20 reads 96% util ~300 f/min 24 GiB => ~1.3 GPU-h, done ~05:4x-05:5xZ. Protocol pinned in eval_disc1000_k4l2_panel.sh (euler-10 draws-1 stable, chunk 30, batch 32, panel_v2 plan + npz dump — the pdnorm endpoint leg copies it); chained session owns the close. || DONE 04:57Z 08-18 (r2 ridden to completion in-session, ~0.5/3 GPU-h, rc 0): chunk MAE 58.14 vs state-copy 8.37, 0% win — catastrophically OOD on community data (worst motors shoulder_lift 104 / elbow_flex 99 / wrist_roll 71) from a checkpoint that beats state-copy on its own demos holdout. HTML+json on fontaine-reports (curl 200), npz pairing substrate local under reports/; reports.md + pre-reg draft panel-guard section updated pre-launch (guard near-vacuous at this baseline; endpoint comparison vs state-copy + released ckpt recorded alongside). Interpretation hedged pending disc1000-panel-row-audit. · pre-reg

disc-step1000-html-report · gpu-local

Browsable HTML eval panel for grasp_sft_v2_demosonly_1gpu_disc/step_001000 (owner standing rule: every important checkpoint gets an HTML report generated + linked from reports/; evals include –report)

boundary: Queued 00:5xZ 08-18 work session (refill at disc post-processing close, charter section 4 + HTML-reports standing rule). Small GPU job (~minutes, probe-scale); GPU-guarded on the owner policy-server check like every local launch. No owner gate — instrumentation, not an experiment arm. || DONE 02:1xZ 08-18 work session: current-stack eval on the probe-matched pins (scored 252/256 frames), chunk MAE 5.763 vs state-copy 7.671 (paired -1.95), wrist_roll 12.31 worst motor; reproduces the old-stack parity 5.7626 (in-train 5.8989 = the known x1.024 probe-vs-eval shift). HTML+JSON on fontaine-reports (curl 200), reports.md section added. Script: fontaine/scripts/eval_disc1000_html_report.sh (~0.1 GPU-h). · pre-reg

disc-verdict-checkpoint-upload · cpu

Upload the discriminator’s verdict-evidence checkpoints to fontaine-checkpoints (owner standing rule: banked/consumable checkpoints leave the box/host same-session, weights-only unless seeding training): step_000500 + step_001000…

boundary: Queued 22:5xZ 08-17 work session (refill at stack-parity-probe-instrument close). Executable after step 1000 writes save-1000 (~01:1xZ 08-18); network-only, no GPU. Pattern: upload_grasp_sft_v2_demosonly_checkpoint.py precedent (extend/parametrize for the two steps). || DONE 00:5xZ 08-18 (work session): save-1000 complete at read; upload_grasp_sft_v2_disc_checkpoints.py exit 0 — steps 500+1000 weights-only (safetensors + metadata + tokenizer, optimizer.pt excluded) + both jsonls (attempt-2 full log, attempt-1 OOM log) at fontaine-checkpoints/grasp_sft_v2_demosonly_1gpu_disc. CLOSED. · pre-reg

stack-parity-probe-instrument · cpu

Stack-parity probe instrument (CPU prep for Amendment 1’s disambiguator): a runnable script/procedure that re-evaluates the discriminator’s saved step-500/step-1000 checkpoints’ probe MAE on the PRE-MERGE stats surface (the merge…

boundary: Queued 22:5xZ 08-17 work session (refill at queue-box-kill-audit close, charter section 4). CPU prep only; the actual parity EVAL is a small GPU job (~minutes) that runs only after step 1000 frees the H100 and only if the verdict branch calls for it. Instrument work is pre-registered-compatible: Amendment 1 names the stack-parity probe as the disambiguator; this item just makes it executable. || CLOSED 22:5xZ 08-17 same session: fontaine/scripts/stack_parity_probe.sh landed — prepare mode builds the 9094e60 (d3dd4d0^1) worktree env and DRY-RAN GREEN: the pre-merge stack parses the step-500 save (family molmoact2_joint, chunk 30, per_dataset_flow_norm=False, schema 2 unchanged across the merge — checkpoint.py/vla.py/validate_checkpoint.py zero-diff), and the checkpoint table’s source-oriented shoulder pair (q01[1]=55.71 > q99[1]=-113.50) is confirmed as the surface the old MolmoNorm.CHECKPOINT eval path reads. run mode = old-stack bijou.eval, probe-matched pins (holdout 0.1 / split-seed 0 / 256 samples seed 0 / chunk 30 / euler-10 / batch 12 = the OOM-fixed micro size applied by flag since the old stack predates the fix), GPU-guarded (owner policy-server), executable the moment step 1000 frees the H100. · pre-reg

queue-box-kill-audit · cpu

Box-kill re-disposition audit of the blocked queue tail: every blocked item that names the killed A100 box as its execution host (box-home-sweep, arm-a-img280, idea17-molmo2-vision-unfreeze-execution, actckpt-lineage-flip-ladder,…

boundary: Queued 19:3xZ 08-17 work session (refill at utilization-ledger-rebase close, charter section 4). CPU-only, unblocked; per the audit-queue-items-against-git standing practice — boundary texts drift from reality, and the 08-17 box kill invalidated every ‘box’ host reference in one stroke. No dispositions are launches: anything re-platformed still rides its own gate/pre-reg rules. || CLOSED 22:5xZ 08-17 work session: all 7 box-hosted blocked items dispositioned — box-home-sweep OBSOLETE-CLOSED (nothing left to sweep); rig-mixture-screen-exec, arm-a-img280, idea17-molmo2-vision-unfreeze-execution, actckpt-lineage-flip-ladder, idea4-fjoint-rung-finalize-exec, demo-gen-v1.1-regen STAY BLOCKED with boundaries rewritten to name the real blocker (owner compute call for a FUTURE box or an explicit local-H100 re-platform + re-preflight; dead-box clauses marked VOID; box-A100-measured cost rows flagged non-transferable). Grep swept the full open tail: gpu-local items (grasp-sft-bootstrap, grasp-sft-token-sft-arm, grpo-r2-post-sft, sim100-v1-rerun) mention the box only in historical audit notes — hosts unaffected, no re-disposition. No dispositions are launches; every re-platform still rides its own gate/pre-reg rules.

local-dataset-mirrors-restore · cpu

Restore local dataset mirrors post-box-kill (CPU/network, no GPU): the box deletion (owner 18:09Z 08-17) left grasp_demos_v1 with NO local copy (~/datasets/fontaine has only grasp_sft_demos_v0; v2 re-pulled 18:2xZ for the discrim…

boundary: Queued 18:3xZ 08-17 work session (refill at prereg-draft close). Blocked on nothing; disk has ~490 GB free after the v2 pull. Do NOT delete the HF mirrors ever — they are now the only durable copies. || CLOSED 19:1xZ 08-17 work session: AUDIT first — none of the three held gpu-local items needs the v1 corpus (bootstrap + token-SFT arm train over grasp_sft_demos_v0, on-disk verified; grpo-r2 consumes a checkpoint) — mapping recorded in their boundaries; pull was pure durability redundancy (HF was the ONLY v1 copy post-box-kill). snapshot_download -> ~/datasets/fontaine/grasp_demos_v1/merged in 1m42s, VERIFIED EXACT vs HF manifest: 232 files, 28,099,973,012 bytes (26.17 GiB), data/meta/videos present. Disk 458 GB free after. HF mirror untouched (never delete).

disc-step1000-sim100-baseline · gpu-local

sim100 flow leg for grasp_sft_v2_demosonly_1gpu_disc/step_001000 (the pdnorm pre-reg’s BASELINE grasp read, runnable independent of the GO): 100 unseen seeds, sim.rollout_sim episode 30 s / execute-horizon 30 / euler-10 / bfloat1…

boundary: Queued 01:5xZ 08-18 work session at the pdnorm draft cut (refill, charter section 4). Un-gated (eval of a banked checkpoint, not an experiment arm); GPU-guarded on the owner policy-server check. Read protocol + interpretation pre-registered in the pdnorm draft’s baseline-arms section. || RUNNING 02:10:01Z 08-18 (unit fontaine-disc1000-sim100, babysit-registered progress-log): seeds 0-99, ~40 s/seed measured => done ~03:2x-03:3xZ; this work session rides it. || DONE 04:19Z 08-18 (ridden end-to-end, ~2.2/3 GPU-h, rc 0, 0 strikes): 11/100 successes (mean progress 2.04 cm, 64/100 moved, 7/11 success seeds shared with the probe’s 44) — top edge of the broken class’s CI (~2-11), far below probe band; sits inside the pdnorm draft’s own 11-19 ambiguous band => calibration note recorded in the draft PRE-LAUNCH + owner flagged in-channel. Report+json+gallery on fontaine-reports (curl 200), reports.md extended, draft baseline-arms updated. Worn row = merged demos-native table (default fallback; json stats_repo_id field carries the pre-fix rig-key record, fix bba4a45 post-dates launch). · pre-reg

per-dataset-flow-norm-rerun-run · gpu-local

RUN grasp_sft_v2_joint_1gpu_pdnorm (mixed-v2 + –per-dataset-flow-norm, local H100 1-GPU): the isolation grid’s clean fourth cell

boundary: Queued 01:5xZ 08-18 work session at the draft cut. OWNER-GATED: launch pends the GO on the draft post (standing ask goes in-channel with the draft summary). Everything CPU-side is staged: launcher full-parse green, serving-row instrument landed with oracles, decision grid + gates frozen in the draft. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): CLOSED superseded-by-execution — the registered run launched 11:02:21Z 08-18 under the delegation (pre-reg a97636c, unit fontaine-v2-joint-pdnorm, live at step ~500 at triage); endpoint residue is pdnorm-endpoint-close. The ‘launch pends owner GO’ gate is void under no-go-asks. · pre-reg

prereg-draft-per-dataset-flow-norm-rerun · cpu

Pre-reg DRAFT for the –per-dataset-flow-norm rerun (the 08-17 isolation verdict’s recipe recommendation, posted 1538811601153425469): the per-channel occupancy analysis showed the pooled/merged table crushes wrist_flex to 0.24x…

boundary: Queued 18:0xZ 08-17 work session at the ebaa8e0-merge close (refill, charter section 4). GATED behind the discriminator verdict (sft-drift-discriminator-run, owner-GO pending since 15:14Z 08-17): the verdict decides whether distributed machinery or recipe deltas own the drift, which fixes this rerun’s baseline arm + platform. Draft is CPU-only; posting+launch owner-gated as always. || GATE LIFTED 00:5xZ 08-18: discriminator verdict = HEALTHY/CONVICTED (distributed machinery owns the drift, recipe deltas exonerated) + stack-parity confirmation banked — per the pre-reg’s interpretation grid the rerun proceeds on the single-GPU recipe class with drift risk retired; baseline arm = the discriminator run itself (same recipe, same platform, per_dataset_flow_norm=False, saves + full eval jsonl banked on fontaine-checkpoints). NEW corroboration for the draft: under the old checkpoint table the parity probe’s worst motor is wrist_roll (16.87@500 / 12.31@1000 vs state-copy 3.99) — exactly the channel the 08-17 occupancy analysis showed overflowing 288%. Draft is CPU-only; posting+launch owner-gated as always. NEXT WORK ITEM. || DONE 01:5xZ 08-18 work session: draft cut posts/2026-08-18-prereg-grasp-sft-v2-joint-pdnorm.md (dated + SUMMARY’d at the GO posting, disc-prereg convention). ARM DECISION recorded in the draft: MIXED-v2 cell, not demosonly — with a single train dataset –recompute-stats pools over exactly that dataset, so the per-item row IS the merged table and the flag is a numerical no-op (flow_normalize_targets applies the same q01/q99 map); the mechanism (and the isolation post’s clean fourth cell) exists only on the mix. One recipe delta (–per-dataset-flow-norm) vs the mixed-v2 box recipe re-platformed through the discriminator’s proven 1-GPU form (eff-96 unchanged => no OOM-ladder preflight). Launcher staged launch_local_grasp_sft_v2_joint_1gpu_pdnorm_h100.sh, full-parse green (molmoact2_joint, per_dataset_flow_norm=True, seed 0). INSTRUMENT PREP LANDED: sim drivers’ worn-row hardcode (STATS_REPO_ID=rig row) would have re-crushed wrist_roll at sim serving for per-dataset-scheme mixed checkpoints — both drivers now take –stats-repo-id (loud refusal on miss, default bit-unchanged, oracle tests/test_worn_stats_row.py 4 tests). check.py 996 green.

merge-main-ebaa8e0-family-norm · cpu

Merge main ebaa8e0 (owner note 17:05:31Z 08-17, /tmp/owner_note_main.txt banked to fontaine/notes/): normalization family-owned

boundary: Queued 17:1xZ 08-17 during the box-evacuation ride. Owner note says v2 pipeline needs no re-pin beyond the rebase. Execute as next session’s infra-debt item (or on owner priority call); box evacuation outranks it this session. || DONE 18:0xZ 08-17 work session (17:42 boot, commit d3dd4d0): merged with 4 conflicts (policies/interface/molmo_flow/sections) — b779ba4 interim threading superseded structurally (those files now upstream-identical; merged-table override + item_action_stats carrier DELETED, batch.action_stats honest per-item again); 6a6a0aa –per-dataset-flow-norm PORTED to family level (flow_normalize_targets/flow_denormalize_chunk + item_flow_quantiles + per_dataset_flow_scheme in models.molmoact2_flow; both molmoact2 families branch, decoder pure normalized; fast.molmoact2 normalize/unnormalize_q01q99_rows single-source; section tag kept + validated + read at from_checkpoint; oracle suite rewritten, 5 tests). All 6 note deltas swept clean across fontaine/+probes/+sim/ (zero direct callers of any moved API). Gates: check.py 992 green; gradflow oracles EXACT flow 1.6948 / ar_backbone 27.8546; discriminator launcher FULL-PARSE green vs merged CLI (family-inferred molmoact2_joint, frozen params intact — GO->launch path re-verified post-merge); released ckpt loads via new family-norm surface (descending shoulder pair preserved); parents[3] carry stands (goldens untouched by ebaa8e0).

sft-drift-discriminator-prereg-post-draft · cpu

Formal discriminator pre-reg post DRAFT (CPU, pre-staged so the GO->launch gap is minutes): cut posts/2026-08-xx-prereg-sft-drift-discriminator.md from the frozen launcher header (fontaine/scripts/box/launch_box_grasp_sft_v2_demo…

boundary: Queued 16:5xZ 08-17 work session at kit close. Blocked on nothing (draft file only); posting+launch remain owner-gated via sft-drift-discriminator-run. | NOTE 17:2xZ: draft must state the platform change (local H100, box killed) as a delta vs the frozen box launcher header; read rule + bounds unchanged. | DONE 18:3xZ 08-17 work session: draft cut at fontaine/blog/src/posts/2026-08-17-prereg-sft-drift-discriminator.md (dated 2026-08-xx + NOT in SUMMARY.md until the GO posting — drafting is not posting). Platform delta stated per the 17:2xZ note; bounds quoted verbatim from the kit (healthy <= +0.30 / drift >= +1.0158 = 0.5 x demosonly +2.0317; fixture rigonly +0.6929 AMBIGUOUS agrees). GO-gap shrunk beyond the draft: local launcher STAGED (fontaine/scripts/launch_local_grasp_sft_v2_demosonly_1gpu_disc_h100.sh, command block byte-identical to the frozen box script by diff, full-parse green vs merged CLI: molmoact2_joint, per_dataset_flow_norm=False, seed 0; GPU-busy guard for the owner policy-server) and the v2 dataset PULLED LOCAL (~/datasets/fontaine/grasp_demos_v2/merged, 35 GiB snapshot of mcobzarenco/fontaine-grasp-demos-v2, data/meta/videos layout verified).

sft-drift-discriminator-postproc-kit · cpu

Discriminator post-processing kit (CPU, pre-staged so a GO turns around fast): extend sft_drift_saga_charts.py with a discriminator overlay

boundary: Queued 16:1xZ 08-17 work session at panel-item close. Blocked on nothing (fixture = rigonly logs); the run it will read is sft-drift-discriminator-run (owner-gated). | DONE 16:5xZ 08-17 work session: sft_drift_saga_charts.py gains –discriminator/–fixture (commit pending this session) — disc_overlay 2-panel indexed chart (delta eval/train MAE vs own step-500, disc bold near-white vs faint banked context + drifting-8x band) + analysis__sft_drift_discriminator.json verdict read with bounds FROZEN pre-run (healthy <= +0.30 -> distributed CONVICTED; drift >= 0.5x demosonly same-window ref (+1.02) -> distributed EXONERATED; else AMBIGUOUS). Fixture dry-run on the rigonly log reproduces the posted rigonly read exactly: +0.69 -> AMBIGUOUS, dtrain -0.39; ruff+format clean.

sft-drift-discriminator-run · gpu-local

1-GPU drift discriminator (OWNER-GATED, staged on box: launch_box_grasp_sft_v2_demosonly_1gpu_discriminator.sh): demosonly recipe on ONE box GPU, same eff-96/micro-12/seed/augment/recompute-stats/init

boundary: Queued 15:1xZ 08-17 at the rigonly close (ambiguous-leaning-drift verdict posted; ask in-channel). BLOCKED on the owner’s go — box is idle, launch is one systemd-run command (header of the staged script). | RE-PLATFORMED 17:2xZ 08-17: owner killing the 8xA100 box (order 16:59:20Z; evacuation complete + verified 17:20Z, all needed ckpts/datasets on HF). On GO the run targets the LOCAL H100 instead — same 1-GPU recipe, adapt the launcher paths (train data from fontaine-grasp-demos-v2 or local copy, init from local molmoact2 released ckpt); expected pace on H100 similar order to the A100 estimate. | STAGED-LOCAL 18:3xZ 08-17: everything pre-positioned, GO->launch is minutes. Launcher fontaine/scripts/launch_local_grasp_sft_v2_demosonly_1gpu_disc_h100.sh (command block byte-identical to the frozen box script; full-parse green vs merged d3dd4d0 CLI; aborts if any compute app holds the GPU — owner policy-server guard). Train data local: ~/datasets/fontaine/grasp_demos_v2/merged (35 GiB HF snapshot); init ckpt local. ON GO: date the draft post -> add to SUMMARY.md -> build+push blog -> post in-channel -> systemd-run per the launcher header -> babysit.toml entry -> first poll: util/rate + free -g (loader is workers 8 x prefetch 4 at batch-96 single-process; rescale declared as machinery-only knob if host RAM pressure). GPU-h gate 12. | GO 18:40:56Z 08-17 (owner: ‘You can do whatever you want’ in reply to the GO-gap post; ask open since 15:14Z) — tick session executing the ON-GO checklist: pre-reg dated+posted (2026-08-17-prereg-sft-drift-discriminator.md, in SUMMARY), launched via systemd-run unit fontaine-demosonly-1gpu-disc on the local H100. || VERDICT 00:42Z 08-18 (boundary tick, posted 1539072109685379175): HEALTHY — distributed path (torchrun+zero1+chunk-grad-allreduce) CONVICTED; eval 5.8989@1000, delta(1000-500) = -1.67, raw AND Amendment-1 scale-adjusted rules agree (no AMBIGUOUS-BY-INSTRUMENT); run complete 1000/1000, ~5.8 GPU-h vs 12 gate. || STACK-PARITY CONFIRMATION 00:5xZ 08-18 (work session): pre-registered probe re-scored saves 500/1000 on the pre-merge surface (9094e60, old MolmoNorm.CHECKPOINT units) — ours 7.3137@500 -> 5.7626@1000, delta(1000-500) = -1.551 vs healthy <= +0.30 / drift_min +1.0158 / the drifting 8x comparator’s actual +2.03 ON THE SAME INSTRUMENT: HEALTHY confirms in comparator-era units, the units-artifact half of the descent-asymmetry caveat is retired (residual: our curve hadn’t plateaued by 1000 — only a longer run answers whether drift appears post-floor; carried as a footnote, not a live doubt). Instrument-shift refinement: same-checkpoint cross-stack ratios 7.5654/7.3137 = 1.034 @500, 5.8989/5.7626 = 1.024 @1000 — the family-norm merge moved the probe only ~2-3% at these saves; Amendment 1’s s=3.613 (step-250 cross-run estimate) was dominated by genuine model-level difference at 250, not units. Both rules agreed so the verdict is unchanged. reports/stack_parity/step_000500.json + step_001000.json banked. CLOSED. · pre-reg

sft-v1-eval-chain-html-panel · cpu

Eval-chain HTML panel + results-page integration: browsable panel for the 3-leg sim100 chain (step500 flow 4/100, step500 token 16/100, endpoint token-fixed 14/100, seeds 0-99) per the HTML-reports rule

boundary: Queued 14:3xZ 08-17 tick at chain ALL DONE 14:17:56Z (verdict posted 1538917693032243293; babysit entry pruned same tick). Chain cost ~6.2/12 GPU-h. Local H100 free. | DONE 16:1xZ 08-17 work session: sft_v1_chain_report.py -> eval__grasp_sft_v1__sim100_chain.html (anchors bar, head-asymmetry slopegraph, 3 per-seed strips, combined table, 9-clip gallery) + analysis__sft_v1_chain.json, all mirrored to the reports Space (curl 200); headline numbers reproduce exactly from banked JSONs (4/16/14, leg-3 median 0.69 cm / 54 moved); 14/100 + head-asymmetry folded into the v1 results page (3/20 sample replaced), reports.md gets a Grasp-SFT v1 section.

sft-drift-saga-report-page · cpu

Chart-led drift-saga page (owner preference: chart-led consolidated reports): the grasp-SFT MAE-drift investigation as one page

boundary: Queued 13:40Z 08-17. Draftable now (CPU); FINALIZE slots for the rigonly/discriminator verdicts. Feeds the eventual fix pre-reg. | DONE 15:1xZ 08-17 work session: page live (posts/2026-08-17-sft-drift-saga.md, 4 dark-mode charts via sft_drift_saga_charts.py, curves banked reports/curve__sft_drift_saga.json from box train_log.jsonl copies rsynced pre-cleanup incl. rigonly full verdict eval 9.24/8.82/9.15/9.51 + train 5.53/4.62/4.03/4.23 = ambiguous-leaning-drift, +0.69 vs demosonly +2.93 indexed). FINALIZE slot remains for the discriminator verdict (owner-gated).

grasp-sft-rigonly-run · gpu-box

grasp_sft_rigonly_8xa100 (owner-designed data-axis cut, order 13:30Z 08-17, launched 13:34:08Z unit fontaine-grasp-sft-rigonly): rig datasets ONLY (pick_place_v2 + clean, 2 ds / 51 eps / 32,431 frames ~3 epochs at 1000 steps), re…

boundary: Registration: recipe base = the v2 pre-reg page; deltas (rig-only data, 1000 steps, save-250) are the owner’s verbatim 13:30Z order, restated in-channel 13:34 (post 1538903937078263858) and in the launcher header. | Live 13:34:08Z, 1000 steps ~1.2 h stepping + init => boundary ~15:0xZ (tick chain owns it; session window ends 14:1xZ). At boundary: post MAE curve verdict vs the banked drifting-run signature; next cut = the staged 1-GPU discriminator (launch_box_grasp_sft_v2_demosonly_1gpu_discriminator.sh) or owner’s pick per the verdict. babysit entry grasp_sft_rigonly_8xa100 (12 GPU-h gate). | DONE (status truth-up 16:1xZ 08-17; was stale-live): closed clean 14:52Z 08-17, 1000/1000, ~10.5/12 GPU-h; ambiguous-leaning-drift verdict posted (owner agreed 15:07Z), folded into the drift-saga page; train logs rsynced pre-cleanup, saves kept on box. · pre-reg

grasp-sft-v2-demosonly-endpoint-kit · cpu

Adapt the staged v2 endpoint kit to the demosonly successor (CPU, ~15 min): eval_box script CKPT/OUT/log names v2_joint -> v2_demosonly; upload script RUN_DIR/DEST -> grasp_sft_v2_demosonly_8xa100/grasp_sft_v2_demosonly_step3000…

boundary: Queued 11:43Z 08-17. Runnable NOW (CPU); do before the ~15:1xZ boundary. This session takes it if the ride allows. | DONE 11:5xZ same session: eval_box_grasp_sft_v2_demosonly_sim100.sh + upload_grasp_sft_v2_demosonly_checkpoint.py written + scp’d to box; report –run v2 key re-pointed at demosonly (single-dataset labels, mixed-run sim20 anchor added); v2endpoint HTML preset meta updated to the demosonly command/stamps. Boundary is push-button.

grasp-sft-v2-demosonly-run · gpu-box

grasp_sft_v2_demosonly_8xa100 (owner order 11:27-11:28Z 08-17, delta posted 11:37Z pre-launch, launched 11:38:30Z, unit fontaine-grasp-sft-v2-demosonly): v2-joint recipe verbatim MINUS both rig datasets and –dataset-repeat; –re…

boundary: Live since 11:38:30Z, 3000 steps, ~15:1xZ ETA, 40 GPU-h gate, babysit entry grasp_sft_v2_demosonly_8xa100. Watch at every poll: MAE shape — flat-to-falling exonerates the corpus and convicts the mix/table; drift-again moves suspicion deeper. Endpoint work = grasp-sft-v2-endpoint-boundary (re-pointed). | DRIFT REPRODUCED (curve eval 3.46/3.24/4.22/5.27/6.17, train 3.69/3.32/3.86/4.60/5.62 at 250..1250, monotone from 500, losses falling throughout): mix/table EXONERATED. Kill-vs-ride PENDING with owner (asked 13:05, re-asked 13:24). ON THE KILL CALL: stop unit fontaine-grasp-sft-v2-demosonly, keep saves, then launch the PREPARED 1-GPU discriminator (launch_box_grasp_sft_v2_demosonly_1gpu_discriminator.sh, staged on box — single delta: distributed machinery removed; same eff-96/micro-12/augment/recompute/init/seed/corpus; MAE read at 250-step probes, drift shows by 750-1000; ~5-9 h wall on gpu0) + babysit entry + in-channel receipt. Healthy-vs-drifting config deltas documented in the script header (distributed / image-augment / batch / table-mode / init). | KILLED BY OWNER 13:30Z at step ~1350 (~4 GPU-h; drift fully reproduced, saves 500/1000 kept). Read BANKED: demos-native table does NOT fix the drift => mix/table exonerated as sole cause. Successor: grasp-sft-rigonly-run (owner-designed data-axis cut). · pre-reg

grasp-sft-v2-step500-flow-read · gpu-local

v2 step-500 flow sim100 — the sharpened isolation read (posted 10:18Z 1538854676324155442): run-2’s step500 flow = 4/100 (seeds 8/29/40/54; CORRECTED 11:1xZ from the tick’s posted 2/100 misread

boundary: Queued 10:3xZ 08-17. GPU-sequenced, not decision-blocked: earliest slot = local H100 at eval-chain ALL DONE (~late afternoon) or box GPUs at the v2 endpoint (~13:3xZ). NOTE: the v2 endpoint sim100 may answer the lever question first — if endpoint flow >= probe band, this read becomes optional color (skip-with-note allowed). | PULLED FORWARD 10:54Z 08-17: owner ordered a sim20 (seeds 0-19) on step_000500 immediately, running locally beside the eval chain since 11:04Z (unit sim20-v2-step500); comparison sub-band: run-2 step500 had 1/20 on seeds 0-19 (seed 8). The full sim100 leg of this item stays queued for a free GPU. | sim20 EXECUTED 11:04-11:36Z (owner order): v2 step500 flow 0/20 on seeds 0-19 vs run-2’s 1/20 same seeds — indistinguishable, not beating the band; 7/20 moved>0.5, mean final progress -2.68 cm (knocks boat away on the tail). NO healthy-run step-500 anchor exists (probe only evaluated at 2000) so this neither confirms nor kills the table story — the discriminative read is the v2 ENDPOINT sim100. Posted 1538874281784508466. Full sim100 leg of this item now likely moot unless the endpoint is ambiguous. | CLOSED 11:4xZ: the sim20 WAS the read (0/20, posted, banked in outputs/sim/grasp_sft/v2_step500/) and the mixed run is dead — full sim100 on a killed run’s step500 has no decision value. The demosonly run’s step-500 save can get the same sim20 treatment on owner ask. · pre-reg

grasp-sft-v2-endpoint-boundary · cpu

grasp_sft_v2_DEMOSONLY endpoint boundary (RE-POINTED 11:4xZ: mixed run killed by owner at ~1150, successor grasp_sft_v2_demosonly_8xa100 live since 11:38:30Z unit fontaine-grasp-sft-v2-demosonly, ETA ~15:1xZ): on unit inactive +…

boundary: Queued 10:3xZ 08-17. Runnable at run completion (~13:3xZ; this work session rides it if the clock allows, else the run_work_next tick chain owns it). Gate facts + anchors live in babysit.toml entry grasp_sft_v2_joint_8xa100. | RE-POINTED 11:4xZ at the demos-only successor: boundary ~15:1xZ (after this work session’s 14:19Z kill) — the run_work_next tick chain owns it; kit staged on box needs the name swap (v2_joint -> v2_demosonly) in CKPT/OUT/DEST before use. Per-dataset breakdown table trivial (1 dataset); decisive read = MAE shape (flat-to-falling vs drift) + endpoint flow vs probe 44 band. | LIKELY MOOT 13:2xZ: drift reproduced on demosonly; if the owner kills, this item closes unexecuted and the discriminator (see grasp-sft-v2-demosonly-run boundary) takes the box. | CLOSED UNEXECUTED 13:3xZ: run killed mid-flight by owner steering; no endpoint exists. Kit scripts remain staged for whatever run next reaches an endpoint. · pre-reg

sft-v1-flow-regression-isolation · cpu

Isolate the sft-v1 FLOW regression (5/100 box + 0/20 local replication vs probe 44/100; serving audited clean 03:3xZ 08-17, commit b779ba4

boundary: Queued 03:3xZ 08-17 at the audit verdict. Gates the grasp-sft-v2 recipe choice (same flag question); grasp-demos-v2-regen itself is NOT gated (no dependency on the table). | DONE 07:28Z 08-17 (in-flight during the demo_gen_v2 ride): discriminator (1) EXECUTED — run-1b remap-only step_002000 (weights pulled from box ~/checkpoints, sim20 seeds 100-119 local): 0/20, median final 9.18 cm == run-2’s collapse (0/20, 8.9). Pooling NOT the sole lever. Probe provenance pinned: 44/100 = joint_corrected/step_002000 (joint+insulate-flow, demos-only, demos-native corrected table) => (a) joint objective EXONERATED. Discriminator (2) executed as table analysis (per-channel occupancy of the sim demos’ window, reports/analysis__sft_v1_flow_isolation_tables.json, on the Space): run-2 pooled compresses ONLY wrist_flex (48.9% occupancy => 0.24x flow-MSE weight, all others ~1.0x); run-1b rig table OVERFLOWS wrist_roll (288% => targets clip at +-1, serving capped at |66| deg vs expert +-157). Unifying read: every broken run normalized sim actions under a sim-misfit window (different channel each time); the only sim-fit-table run grasps. (b) mix not formally exonerated (rides in both broken runs) — SFT-v2 with per-dataset norm is the free 4th cell. Verdict + recipe rec posted msg 1538811601153425469 (owner call pending on per-dataset norm vs demos-native table).

bijou-train-per-dataset-flow-norm · cpu

Per-dataset flow-target normalization in bijou.train (the isolation verdict’s recipe enabler, 07:28Z 08-17 post 1538811601153425469): normalize each item’s flow targets under its OWN dataset’s q01/q99 row (per_dataset_stats alrea…

boundary: Queued 07:3xZ 08-17 at the isolation verdict. GATED on the owner’s recipe call (per-dataset norm vs demos-native table vs drop the flag — asked in the verdict post); implementation is the same plumbing for the first two options. Do BEFORE grasp-sft-v2-joint-run locks its pre-reg. | DONE (landed 6a6a0aa, check.py 988 green: –per-dataset-flow-norm flag, section tag q01q99_per_dataset, serve-side rows carried, pooled-vs-per-dataset fixture + exact round-trip oracle). Owner recipe call 09:23Z: NOT used for v2 — flag stays BANKED as the next isolation arm if v2’s flow stays in the 5/100 band. STATUS CORRECTED 10:3xZ (was still ‘queued’ — same killall’ed session).

image-augment-html-report · cpu

Image-augmentation HTML report (owner order 07:55:24Z 08-17, msg 1538818515908173824): sample real frames from the demo corpus, render a few augmented draws per frame under the frozen –image-augment v0 recipe (pre-reg posts/2026…

boundary: Queued 08:0xZ 08-17 at the order; reply posted 1538821252431609988. | DONE same-session 08:44Z (post 1538830870021152841): fontaine/scripts/image_augment_report.py (reusable, smoke-tested on v0 locally), report generated ON THE BOX from grasp-demos-v2’s encoded videos (4 front + 4 wrist frames x 4 seeded draws, collator-identical call), uploaded to fontaine-reports, curl 200: augment__image_augment_v0_grid.html. Offered a v0.1 range amendment path if any op reads too strong/weak.

sft-v1-step500-sim100 · cpu

sim100 on run-2’s step_000500 (owner order 08:03:49Z 08-17, msg 1538820633826299954): pull step_000500 weights from the box archive (~/checkpoints/finetune/grasp_sft_v1_joint_8xa100), run locally as detached units

boundary: Queued 08:0xZ 08-17 at the order; reply posted 1538821253362745426. | LAUNCHED 08:09:57Z as unit sft-v1-eval-chain (ONE chained unit, 3 legs sequential w/ file log outputs/sim/grasp_sft/step500_sim100/chain.log): step500 flow sim100 -> step500 token-fixed sim100 -> ENDPOINT token-fixed sim100 (the 07:43Z ask). step500 weights pulled to outputs/train/_boxdl/run2_step500. Babysit entry sft_v1_eval_chain registered (12 GPU-h gate). First poll 08:44Z: leg 1 at seed 27/100, profile matches the audit legs. On ALL DONE: HTML panel + verdict post vs anchors (endpoint flow 5/100 box / 0/20 local, probe 44/100, token-fixed 3/20). | DONE (status truth-up 16:1xZ 08-17; was stale-live): chain ALL DONE 14:17:56Z, verdict posted 1538917693032243293, ~6.2/12 GPU-h; HTML panel landed by sft-v1-eval-chain-html-panel.

sft-v1-serving-norm-audit · cpu

Serving-path normalization audit (from the 5/100 sim100 verdict, post 1538738118151249940): trace the action de-normalization table end-to-end at rollout (checkpoint metadata.json vs dataset-side stats vs any cached constants) fo…

boundary: Queued 02:3xZ 08-17 at the sim100 verdict. GATES grasp-demos-v2-regen -> grasp-sft-v2-joint-run (same –recompute-stats flag). Runnable immediately, leads with wrist-cam-pose-refit next session. | DONE 03:3xZ 08-17 work session (commit b779ba4): TOKEN-LEG SEAM FOUND + FIXED — inference collator couldn’t carry the merged action table (codec-required guard), AR decode fell back to per-item quantiles = the real-v2 rig row in sim100 while training tokenized under the recomputed MERGED row; merged lift pair descending (+44.26 -> -124.8) vs v2 ascending => every token lift command decoded SIGN-INVERTED. Fix: molmoact2_action_table pinned family-gated in BijouPolicy; guard removed; test added. FLOW path audited CLEAN (decoder-owned row empirically == metadata merged after load; state clamp affine both sides; box code byte-identical to HEAD). 20 unseen seeds 100-119 local: token WITH fix 3/20 (box 0/100) = seam confirmed + AR head success-capable; flow 0/20 (box 5/100, median final 8.9 vs 8.7 cm) = flow regression REAL, not serving. Gate half-cleared: serving trustworthy; flow fault isolation queued (sft-v1-flow-regression-isolation).

grasp-sft-v2-joint-run · cpu

Grasp-SFT v2 joint run (owner order 00:45:29Z 08-17): SAME hyperparameters as grasp_sft_v1_joint run 2 (bijou.train –objective joint –joint-ce-weight 1.0 –insulate-flow –recompute-stats, eff-96, 3000 steps, eval 250 breakdown…

boundary: Queued 01:5xZ 08-17 at the owner order. BLOCKED on grasp-demos-v2-regen (dataset uploaded + receipts). Pre-reg before launch per charter. Pre-reg REQUIRED before launch (prereg field null until posted). | 03:3xZ 08-17: serving-norm audit DONE — serving path now trustworthy (token decode fix b779ba4); flow-regression isolation (new item) is the remaining pre-v2 question. | LAUNCHED 09:57:39Z 08-17 on the box (unit fontaine-grasp-sft-v2-joint, 8xA100, pre-reg posted 1538846657901498390 BEFORE launch; owner ‘skip the smoke, asap’ 09:47Z; recipe call locked 09:23Z: one merged recompute-stats table, NO per-dataset norm). First steps GREEN (step10 loss 3.98, 96-98% util); 4.08 s/step at step 110 -> endpoint ~13:3xZ. Babysit-registered, 40 GPU-h gate. STATUS CORRECTED 10:3xZ (was still ‘queued’ — launch session was owner-killall’ed mid-bookkeeping). | KILLED BY OWNER 11:27Z 08-17 at step ~1150 (~2.6/40 GPU-h): MAE rising monotone INCLUDING the train slice (eval 3.85/3.96/4.95/6.29, train 4.24/4.45/4.76/6.48 at 250/500/750/1000 — run-1b signature under a fresh merged table). step500 sim20 read: 0/20 (band, not better). Superseded by grasp-sft-v2-demosonly run (launched 11:38:30Z, owner order: rig datasets out, demos-native table). step_000500/1000 saves kept on box + step500 local. · pre-reg

grasp-demos-v2-regen · cpu

Grasp demos v2: 5k regen with all demo improvements (owner order 00:45:29Z 08-17): expert v1.3 (1.5 cm centering, retreat glide 5deg/tick, tail 450) + bracket_appearance=real + the FITTED wrist-cam pose (owner: “definitely includ…

boundary: Queued 01:5xZ 08-17 at the owner order. Sequenced: wrist-cam-pose-refit (validated pose) -> this regen -> grasp-sft-v2-joint-run. Pre-reg the regen params (expert version receipt, wrist pose flag, kept-rate anchor 45.9%) before launch. Pre-reg REQUIRED before launch (prereg field null until posted). | 03:3xZ 08-17: serving-norm audit DONE — serving path now trustworthy (token decode fix b779ba4); flow-regression isolation (new item) is the remaining pre-v2 question. | LAUNCHED 06:16:38Z 08-17 (work session): pre-reg posted 06:16:31Z BEFORE launch (msg 1538793633703268372), collector plumbing landed (7078cf0: –bracket-appearance + –wrist-pose pass-through, manifest-carried), dry-run verified, unit demo_gen_v2 on the box (96 shards x 8 GPUs, same seeds 10000+ as v1, spawn v2.1 + mix70 + expert v1.3 9ba7d30 + bracket real 4a9bf5c + wrist refit 4b14b1f, launch HEAD 7078cf0). Babysit entry registered (40 GPU-h gate, halt bar kept<40% past 500 attempted vs 45.9% v1 anchor). On DONE: merge -> upload public fontaine-grasp-demos-v2 -> card + kept-rate verdict post. | DONE 08:30Z + boundary EXECUTED same-session (verdict post 1538829754055266364): 5000/5000 kept, 0 failed shards, 10,084 attempted = 49.6% vs the 45.9% anchor, 2h13m wall ~17.8/40 GPU-h. Merged (5000 eps / 1,942,375 frames, quantiles exact, provenance united), uploaded PUBLIC to mcobzarenco/fontaine-grasp-demos-v2 (200, private=false, card w/ visual knobs). Integrity correction disclosed in-channel: shard expert_head 07f6de5 was the box’s stale .git HEAD (rsync excludes .git) — merged provenance corrected to true launch HEAD 7078cf0 + note, box .git bundle-synced; merge tool now carries bracket_appearance/wrist_pose/retreat_tail (8591b99). Unblocks grasp-sft-v2-joint-run on data (recipe call still pending). · pre-reg

wrist-cam-pose-refit · cpu

Wrist-cam pose refit vs rig v2 (owner ask 21:43:31Z 08-16, proposal agreed-in-channel 22:0xZ msg 1538665108811812925): sim wrist view shows one small clockwise-leaning orange jaw tip where rig v2 shows BOTH jaws symmetric from th…

boundary: Queued 22:0xZ 08-16 at the steering reply. | STAGE 1 DONE 23:4xZ 08-16 (in-session fill work during the run-2 ride, owner status ask 23:06Z): matched-pairs instrument landed (fontaine/scripts/wrist_cam_matched_pairs.py, commit 31d8391), 312 pairs at outputs/sim/wrist_refit/matched_pairs/ + manifest. Read: discrepancy CONSISTENT — the real-centered working area (jaw tips/held object/disk) sits at/below the sim bottom edge => pitch overshoot + clockwise roll; some poses see the mount body. Remaining: stage-2 measurements on the 312 pairs, stage-3 fit + held-out validation + flag-gated ship (composite posted in-channel 1538690503976161410). | STAGES 2+3 DONE 2026-08-17T05:47:03Z (work session): 312-pair measurement instrument (wrist_cam_pose_measure.py; real both-jaws-visible 92.9% vs sim 0.0% — fixed jaw never in the v1 frame), 6-param mount-local fit (wrist_cam_pose_fit.py, pre-reg msg 1538759641591324747): pitch -23/yaw +14/roll -9.5 deg, cam-frame offset (+3.3,+1.3,-3.0) cm. Held-out (96 pairs): G2 PASS (both-jaws 0%->100% vs real 90.3%), G3 PASS (bottom-occ |d| -65%), G1 MISS (centroid -44.5% vs -50% bar; residual = lens/detector floor, axis err 42.5->15.9 deg). Deviations disclosed in results post 1538786116956594250. SHIPPED flag-gated SO101Sim(wrist_pose=‘refit’), default untouched, REGEN-ONLY — rides grasp-demos-v2-regen. Commit 4b14b1f.

v11-sample-videos · cpu

v1.1 sample videos for the owner eyeball (pre-regen evidence): re-render 2 kept episodes with the landed v1.1 expert (slew 10/12 + tail 300) through the production collector render path (v2.1+mix70), encode top+wrist side-by-side…

boundary: Queued 18:4xZ 08-16. | DONE 18:4xZ 08-16 same slice: seeds 1005 + 1002 (both kept under v1.1) rendered via the production path, top+wrist side-by-side mp4s posted in-channel with –attach (ids 1538620093930405899, 1538620098313453699).

disk-retint-prep-cpu · cpu

Disk retint prep (CPU, flag-gated — activation owner-gated): implement the top-cam disk material recalibration behind a sim flag (target = measured real ratio ~1.8 disk/table luminance, warm hue, check side-wall shading term), re…

boundary: Queued 18:1xZ 08-16. Executable now (local GPU free for renders). Output: flag + oracle + comparison strip + achieved-ratio number appended to the smoother-demos post; unblocks regen blocker (2) into a pure owner 👍. | DONE 19:0xZ 08-16 with a MEASURED NO-GO on the material-only route: disk_appearance flag landed (‘realcal’: fresh-beech rgba + emission 0.35, raw 228->240 near ceiling) + probe promoted to fontaine/scripts/disk_contrast_probe.py (3-seed composite read + real anchor baked). Finding: the v1 raw disk is ALREADY bright (228/255) - the darkening is the v3 top composite’s per-episode affine (gain ~0.55 fitted on table stats) which caps ANY foreground at <=~1.1x plate, so ratio 1.78 is unreachable by material alone (measured composite: v1 0.88 mean, realcal 0.87). REVISED PROPOSAL for the owner: exempt the disk segmentation mask from the episode affine (keep the V1 global grade) -> predicted ~1.5; composite-semantics change, owner-gated, would ride v1.1 regen under the same flag.

topcam-disk-contrast-instrument · cpu

Top-cam disk visibility: measured real-vs-sim contrast read (feeds the owner’s 17:07Z ‘cylinder does not render’ item + my 18:01Z option (b)): extract real rig top frames from ~/datasets/mcobzarenco/so101_pick_place_v2 (the plate…

boundary: Queued 18:1xZ 08-16. Pure CPU/ffmpeg + numpy; executable now. Output: numbers + crops into the smoother-demos post or a follow-up, and the v1.1-regen item’s blocker (2) resolves with the owner’s answer. | DONE 18:0xZ 08-16 same session: real disk/table lum ratio 1.78 (241 vs 136, boundary grad 8.4, ~3.4k px, side wall + shadow) vs sim 0.95 (148 vs 156, grad 5.1, ~1.35k px) - the sim disk is DARKER than its surround, isoluminant camouflage. Mis-calibration CONFIRMED; retint proposal (target ~1.8 warm) posted 18:07Z, owner sign-off pending; folded into demo-gen-v1.1-regen blocker (2) and the smoother-demos post.

grasp-sft-v1-endpoint-boundary · cpu

grasp_sft_v1_joint endpoint boundary — RE-POINTED at run 2 (RESTART –recompute-stats, unit grasp-sft-v1c live since 21:14:48Z 08-16, owner order 20:51:19Z; run 1b killed at ~1900, saves archived _run1_remaponly): on unit inactiv…

boundary: Queued 18:1xZ 08-16 at launch; re-pointed 21:1xZ after the owner-ordered restart. Runnable at run-2 completion; the armed run_work_next tick chain owns it if no session is live. | EXECUTED 01:0x-02:3xZ 08-17 (work session): final eval 5.41 + per-dataset table (real v2 train 8.15 / eval 15.77 - 2x gap) posted; ckpt uploaded + byte-verified (grasp_sft_v1_joint_step3000); sim100 both legs merged on the box: FLOW 5/100, TOKEN 0/100 vs anchors 44/9/28 + bar 20 => pre-reg band flow<25 = seam/serving investigation FIRST (verdict post 1538738118151249940; flow moved 51/100 median final 8.7cm - reaches, cannot grasp => prime suspect wrist-channel norm mismatch in serving). REMAINING (next tick): rsync merged jsons+videos local, re-run endpoint report for sim_strip, HTML report –preset v1endpoint on box + rsync, finalize results-page FINALIZE slots, blog build + Space push. | TAIL CLOSED 10:3xZ 08-17 work session (d464ac6): the box outputs/ wipe (05:5xZ session’s rm -rf ~/flow-matching/outputs before the demo-gen v2 driver) had deleted the merged sim100 jsons+videos BEFORE the rsync-local step — per-seed data reconstructed exactly from the surviving ~/eval__sft_v1_*.log shard tables (reconstruct_sim100_from_logs.py; 5/100, 0/100, moved 51, median 8.65 all match the posted verdict), real sim_strip regenerated, v1endpoint HTML report built from the reconstruction + live on the reports Space, results-page FINALIZE slots filled with integrity note. Videos = the only unrecoverable artifact (deterministic rollouts, re-renderable from the uploaded ckpt on demand). · pre-reg

expert-retreat-slew-gentle · cpu

OWNER WORK ORDER 15:22:29Z 08-16 (‘retreat a bit wild, slow it down, more natural; in-flight 5k fine’): slew-limit the ScriptedExpert retreat home leg (~2 deg/tick crawl like the carry phases, instead of the one-shot absolute HOM…

boundary: | DONE 18:1xZ 08-16 work session (owner broadened it 16:53Z: ‘smoother trajectories overall’): output-stage feedforward slew limiter landed on EVERY commanded channel (sim/scripted_expert.py SLEW_ARM_DEG 10 / SLEW_JAW_DEG 12, None=legacy; 2 oracles) + instrumented attribution harness fontaine/scripts/smooth_expert_measure.py. Measured n=120: 6deg/tick collapsed placed 59.2->40.0 (main-clock expiry, NOT physics); 10deg/tick recovers 58.3. ROOT CAUSE of the original kept collapse AND a v1 yield tax: success() fires mid-settle (no gripper-open term) so the 150-tick tail must cover settle+open+retreat; 33/71 placed expired mid-swing, 13 demoted by the still bar with the boat placed. Tail budget 150->300 landed (collector default): v1.1 = kept 54.2 vs 45.8 baseline / 48.3 anchor, parked 94.3, max step 293->10 deg/tick. Protocol untouched. Commits 0e77650+dbc0731, blog post 2026-08-16-smoother-demos-v11.md.

train-eval-per-dataset-breakdown · cpu

OWNER WORK ORDER 15:21:37Z 08-16: bijou.train eval flag reporting the eval MAE-chunk PER DATASET to wandb (breakdown keyed by each holdout item’s repo id, riding the existing per-item MAE reduction in train/loop.py) plus a wandb…

merge-main-phase7bce · cpu

Merge main phases 7b/7c/7e + phase-7 VERDICT + probe_grpo_replay_parity + phase-5 box-gate close (c75814d 7b per-trunk memories GemmaMemory/Molmo2Memory + static caches; 234dae9 7c decoders return natural products, BijouPredictio…

boundary: Queued narratively at the 22:15Z tick (run_work_next armed), executed by the 22:18Z chained work session. || DONE 22:2xZ 08-15: merged 9e786b7 CLEAN (no conflicts, 50 files +907/-608), check.py 903 green; 6-point seam verify all green: (1) gradflow oracles EXACT 1.6948 flow / 27.8546 ar_backbone; (2) both retrain arms full-parse verbatim (family checkpoint-inferred molmoact2_flow, –flow-decoder-init inherit) AND both conversions validate_checkpoint green (base_corrected_stats_v0_vla + stagec_ar_step2000_corrected_v1); (3) GRPO targeted suite 40/40 (grew 33->40 upstream: test_molmo_flow_integration 6->13), broader grpo/replay/rollout sweep 75/75; (4) straggler grep clean — all 7b/7c/7e deletions are moves/renames (ObservationMemory -> per-trunk GemmaMemory/Molmo2Memory, tile_memory -> eval/policies, ARSuffixDecoder re-typed on PrefixMemory; BijouPrediction + SNAPFLOW_ALPHA/LAMBDA gone with zero fontaine-side refs); (5) parents[3] carry stands; (6) augment oracles 11/11; snapflow_identity_oracle module-import smoke green post-7e.

merge-main-phase7 · cpu

Merge main phases 7a+7d (a460258 ‘delete the ObservationEncoder ABC - encoders are plain modules’ + fb74f7f ‘extract suffix_positions + continue_molmo2_suffix (3 copies -> 1)’, +191/-256 across 8 files, all in bijou/modelling: in…

boundary: Queued 21:0xZ 08-15 tick on seeing a460258 on origin/main. CPU-only, GPU owner reserve untouched. Same urgency class as 5a-6: owner arm/route/release decision may land any time and both retrain launch commands must stay green against the encoder/decoder rework. || DONE 21:1xZ 08-15 (work session): merged f90f15b, one conflict (interface.py imports; augment seam kept, dead RopeParameters import dropped), check.py 902 green, 6-point seam verify all green (gradflow 1.6948/27.8546 exact, both arms full-parse molmoact2_flow, GRPO 33/33, straggler grep clean, parents[3] stands, augment oracles 11/11); posted 1538295137140998165.

merge-main-phase6 · cpu

Merge main phase 6 (393163f, ‘delete the old world - BijouModel, the live legacy read path’, +1026/-3036 across 36 files: bijou/model.py DELETED (772 lines), tests/test_vla_parity.py DELETED (1098 lines / 23 tests; five loss orac…

boundary: Queued 19:3xZ 08-15 tick on seeing 393163f on origin/main (phase-6 drop, pushed 19:07:58Z). CPU-only, no GPU touch (owner reserve stands). Urgent same as 5a/5b/5c: owner arm/route decision may land any time and the launch + eval + convert paths must be green against the old-world deletion first; upstream touched three of our own files (sim_encoder_ood_probe, both probes), so a diff-audit of those is part of the merge. || DONE 19:4xZ 08-15 work session (19:33 boot): merged clean (no conflicts), check.py 902 green (925 minus the 23 retired test_vla_parity tests; five loss oracles remain the gate). All 7 seams verified: (1) our-files diff-audit = pure API migration (sim_encoder_ood_probe: from_checkpoint->load_vla+read_metadata, model.decoder->model.ar_decoder, info.backbone->metadata.backbone_id; ar_parity probe: hand-rolled stack->MolmoAct2DiscreteStack.load; gradflow probe: BijouModel harness->family classes GemmaFlowVLA/GemmaARVLA, re-anchored upstream) — all imports green; (2) gradflow oracles EXACT: flow 1.6948 + ar_backbone 27.8546, all partition checks PASS (CPU run); (3) both retrain arms full-parse green verbatim, family checkpoint-inferred molmoact2_flow, flow_decoder_init=inherit; (4) convert_legacy smoke on real stage-C step2000 legacy dir rc=0, validate_checkpoint OK, output bit-identical (recursive hash sweep 0 diffs) to the banked 5a conversion; legacy refusal LOUD = SystemExit naming the exact convert_legacy command; (5) GRPO seam 33/33 targeted (test_grpo_loop + test_molmo_flow_integration on MolmoAct2FlowVLA); (6) parents[3] carry stands (bank_processor_goldens.py untouched by phase 6, last touch our merge commit; cherry-pick note to main stands); (7) straggler grep clean — only a docstring mention in materialize_joint_ar_view.py, no code use of deleted symbols. BONUS: er_60k/step_060000 (reference trunk, still legacy) converted -> ~/checkpoints/converted/er_60k_step_060000_vla (molmo2_ar, allenai/Molmo2-ER, step 60000, mean/std stats carried, validate OK) — OOD-probe/sim100/rig-mixture mounts stay one-command-ready post-deletion. Pre-reg section-10 amendment added (posts/2026-08-15-prereg-grasp-sft-retrain-corrected-table.md). Launch remains owner-gated (arm pick + route A/B/C + GPU release).

merge-main-phase5b · cpu

Merge main phase 5b (03c2b27, ‘bijou.eval on the VLA traits + the new checkpoint format’, +598/-325 across 10 files: eval/policies.py 584-line rework, eval/cli.py, docs/vla-architecture.md, 6 eval-adjacent test suites) into fonta…

boundary: Queued 17:3xZ 08-15 tick on seeing 03c2b27 on origin/main. CPU-only, no GPU touch (owner reserve stands). Urgent for the same reason 5a was: the owner arm/route decision may land any time and both the launch AND eval paths must be green against phase 5b first - the probe protocol is the read for whichever arm launches. || DONE 17:4xZ 08-15 work session: merged clean (no conflicts), check.py 924 green. Seams re-verified: (1) probe command parses + BOTH _vla conversions LOAD through the reworked BijouPolicy on CPU (chunk 30, per-dataset-stats fallback to the checkpoint table intact); legacy dirs refuse loudly with the convert_legacy pointer (re-probing the corrupt-table floor comparator must use step2000_vla); (2) ticket-map oracles 15/15 (suite grew with the upstream test ports), –noise-ticket-map/–noise-tickets parse; (3) panel forms all parse (ticket-bank-64, ticket-map, –report+–output-json) — upstream section-0 promise ‘–checkpoint CLI surface unchanged’ holds; (4) augment-0 unaffected by construction (5b touches only bijou/eval/ + tests) + image-augment oracles 11/11 re-run green; (5) parents[2] fix STILL NOT upstream — our parents[3] carry survived the merge, carry stands. Both retrain arms full-parse green post-5b (family molmoact2_flow, flow-decoder-init inherit, frozen SS3 params exact); corrected wrist_roll +-157.2 verified baked in both corrected artifacts via new-format metadata; step2000_vla preserves the corrupt 35.5/94.4 bit-identically (the floor comparator, by design). Launch remains owner-gated (arm pick + route A/B/C + GPU release).

merge-main-phase5a · cpu

Merge main phase 5a (a51b172, ‘bijou.train on the family CLI + the VLA checkpoint format’, +3115/-2046 across 20 files incl

boundary: Queued 16:5xZ 08-15 tick on seeing a51b172 on origin/main (owner-pushed 16:34Z). CPU-only, no GPU touch (owner reserve stands). Urgent: the owner’s arm/route decision may land any time and the launch path must be green against phase 5a first. || DONE 17:1xZ 08-15 (work session 16:50): merged 351c56e, check.py 922 green; conflict = probe_unfreeze_gradflow (upstream inlined ProbeArgs, our TrainArgs image_augment line obsolete -> theirs); SEAM FINDINGS: (1) –expert-init RENAMED –flow-decoder-init (inherit=default=same semantics); (2) FORMAT BREAK - new –init-from refuses legacy bijou_config.json conversions -> both migrated via convert_legacy (hard links, validate green): molmoact2_base_corrected_stats_v0_vla + molmoact2_grasp_sft_stagec_ar_step2000_vla; (3) continue-from-2k arm made REAL: fresh convert_molmoact2 step2000-hf –norm-stats-from corrected -> molmoact2_grasp_sft_stagec_ar_step2000_corrected_v1 (new format, trained expert b778bbf2, corrected rows + stats_note baked); (4) BOTH retrain arms full-parse green vs the family CLI (family inferred molmoact2_flow); (5) image-augment p=0 bitwise oracle 11 passed + gradflow probe anchors exact (27.8546) post-merge; (6) parents[2]->[3] fix NOT upstream (main still parents[2]) - our carry stands, cherry-pick note remains. Pre-reg SS3 amended (–flow-decoder-init + _vla path) + SS8 amendment section. Launch stays owner-gated (arm pick + route + GPU release).

wrist-screen-results-post · cpu

Wrist-transfer screen results page (blog, chart-led per the owner standing preference): the F-instrument story end-to-end

boundary: Queued 01:3xZ 08-15 at the F-instrument close (depth refill: the screen item closed same session). Not urgent; any writing-ladder session takes it. The Discord boundary post (01:34Z) is the canonical short record until this lands. | DONE 02:4xZ 08-15 (fb1e672): posts/2026-08-15-wrist-screen-results.md — plain-words open, receipts, T1 gate table, power analysis (control ±0.28 at n=25 vs wrist effects ~2x smaller; successor rule: control at treatment n), W3 record-only engagement finding, successor needs. Charts delta_strips + engagement_split (house dark scheme) via fontaine/scripts/wrist_screen_close_charts.py (recompute-and-abort guard vs the banked analysis JSON).

grasp-sft-stage-b-collector · cpu

Grasp-SFT stage-B demo collector (CPU instrument, prereg §2/§6): scripted-expert rollouts on demo seeds ascending from 1000, rendered under the production visual config, SUCCESSES KEPT, obs (top/wrist/state) + executed action tar…

boundary: Queued 02:4xZ 08-15 with amendment A1 (depth refill at the results-post close). Collection launches only after the A1 fresh held gate read passes >=14/20 and per its window terms; the writer instrument itself is the executable CPU slice any session can take. | DONE 03:2xZ 08-15 (5b360fa): instrument landed with 4 CPU oracles (eval-seed refusal, success-only + round-trip bit-equal, resume-appends, foreign-dir refusal) + GL smoke (2 real demos collected, reloaded, schema+values verified). The GPU collection leg rides the grasp-sft-bootstrap item per A1 window terms. · pre-reg

grasp-sft-chain-results-page · cpu

Grasp-SFT chain results page (blog, chart-led per the owner standing preference; writing-ladder item): the competence-before-RL story end-to-end once stage D banks its verdict

boundary: Queued 04:2xZ 08-15 at the stage-d-eval-prep close (depth refill). Blocked in practice until stage D banks analysis__grasp_sft_stageD_sim100.json; any writing-ladder session takes it after that. The Discord boundary posts are the canonical short record meanwhile. | DONE 15:4x-15:5xZ 08-15 (work session; draft 2439869, probe section 13:4xZ, finalized this commit): page live + in-channel post 1538212636477624320 — the stage-D verdict section became the SUSPENSION record (10:10Z re-steer; formal exam never ran) plus the A2 re-base note (a flow-head sim100 no longer triggers R2; the token arm’s discrete-head count does), and a new ‘Where this goes next’ section carries the three pending owner decisions (retrain arm / route A/B/C / GPU release) with pre-reg links. All 5 dark-mode charts curl-verified live; charts regenerate from banked JSONs via grasp_sft_chain_charts.py; blog built + Space pushed. Chain ledger on the page: ~11 GPU-h vs the <=13 gate. · pre-reg

grasp-sft-stage-d-eval-prep · cpu

Grasp-SFT stage-D eval prep (CPU, prereg §6 frozen arm list): the sim100 eval leg for the stage-C endpoint(s)

boundary: Queued 03:5xZ 08-15 at the stage-c-launch-prep close (depth refill). Executable CPU once stage C is training (conversion/launcher code can be built against the rig-ft r1 precedent before the endpoint exists); the GPU leg rides the grasp-sft-bootstrap ladder. | DONE 04:2xZ 08-15 same session (stage-B ride window, no-idle rule): (1) launch_local_grasp_sft_staged_eval.sh — convert mode (two-hop: their convert_molmoact2_to_hf on the olmo step dir -> HF serve dir carrying the demo-set recomputed norm_stats, then bijou.convert_molmoact2 –norm-tag so100_so101_molmoact2 -> converted dir; rig-r1 runbook + eval20 precedent) + eval100 mode (sequential rollout_sim ONLY — 08-12 parallel oracle FAIL froze sequential; frozen seeds 0-99, –episode-seconds 30 per the eval20 replans-vs-chunk lesson, euler-10 AR / euler-1 flow, videos + out-json, GPU-free guard). (2) grasp_sft_staged_reads.py — the frozen §2 decision surface as code: success == recorded success_tick (sim100 convention, verified against the banked ftrig4k arm JSON schema), refuses any seed set != 0-99, reset-strikes gate, verdict bands ORACLE-TESTED at the edges (20->GRPO_GO, 19/5->ITERATE_BC_ONCE, 4->F_TRANSFER, strikes flag, non-frozen-set refusal all green); context anchors ride record-only. (3) PREPARED babysit entry grasp_sft_stageD_eval (2.0 GPU-h gate). NO launch — stage D rides the ladder after stage C. · pre-reg

grasp-sft-stage-c-launch-prep · cpu

Grasp-SFT stage-C launch prep (CPU, prereg §6 frozen params): the train_lerobot.py launcher script for the AR primary

boundary: Queued 03:2xZ 08-15 at the collector close (depth refill). Executable CPU now (launcher + audit code); its preconditions (the demo set) land with stage B. | DONE 03:5xZ 08-15 work session: (1) mixture so101_grasp_sft landed in ~/molmoact2 (7fb6552 on fontaine-so101-rig): demo repo fontaine/grasp_sft_demos_v0, tag so100_so101_molmoact2 so per-tag q01/q99 recompute over the demo repo only (§6 item 4), import-verified. (2) AR launcher launch_local_molmoact2_grasp_sft_stagec_ar.sh — rig-ft r1 verbatim-class, mechanical diff receipt in the header AND re-verified by diffing the torchrun blocks: ONLY mixture/wandb-name/max_duration 2000->3000/save_folder/unit/log differ. NOTE: no –objective flag exists in molmoact2 train_lerobot.py (the item title’s ‘–objective ar’ was draft-era language; MolmoAct2 is natively AR — frozen §6 text, which governs, never mentions the flag). (3) flow-arm launcher launch_local_grasp_sft_stagec_flow_4k.sh — ftrig4k train block verbatim, diff receipt = ONLY –train-data swapped + run name; conditional on the <=13 GPU-h budget after the primary lands. (4) shared preflight grasp_sft_stagec_preflight.py refuses launch unless: collector finished + provenance banked, kept >=300, ALL kept seeds >=1000, state_units == frozen identity string, info.json consistent; prints epoch math (3000xgb64 and 4000xb24 vs total frames). Oracle-tested: PASS path + 3 refusal paths (kept<300, eval-seed 99, shim state_units) + live-collector refusal all green. (5) PREPARED babysit entries grasp_sft_stageC_ar + grasp_sft_stageC_flow (commented, FILL-AT-LAUNCH started_utc, gates 5.0/1.5 GPU-h). · pre-reg

image-augment-sim2real · cpu

image-augment-sim2real: train-time photometric augmentation in bijou.train (owner ask 13:09Z 08-15, Q2 reply 1538178752582787093): –image-augment flag applying brightness/contrast/saturation/hue jitter + gamma, Gaussian sensor n…

boundary: Queued 13:4xZ 08-15 from the owner’s sim2real question. Value prices in only at rig transfer (sim100 may dip slightly with aug on — expected, say so in the pre-reg). Composes with whichever retrain arm the owner picks (flag on the same run or a follow-up arm). Render-time domain randomization (lighting/textures/camera pose at collection) is the recorded heavier alternative — needs demo re-collection, machinery exists from the arm-photometrics/texture screens. || DONE 14:2xZ 08-15 (work session, commit 09129af + blog commit): –image-augment landed in bijou.train — bijou/image_augment.py (v0 spec frozen: crop/translate 0.90-1.0, brightness +-0.15, contrast/sat 0.7-1.3, hue +-0.05, gamma log-U(0.8,1.25), noise p=.5 sigma .002-.02, blur p=.25, JPEG p=.25 q40-85), Collator.image_augment per-frame gate at the CameraFrame seam, probe clone augment-0, eval-side default 0.0. 11 oracles (p=0 identity + zero-RNG bitwise pin, determinism, non-mutation, probe-clone convention); check.py green 865. Pre-reg page live (posts/2026-08-15-prereg-image-augment-sim2real.md, curl-200) with a clean-vs-7-draws grid on a real stage-B frame; in-channel post 1538191003574607885. Recommended first use –image-augment 0.8 on the owner-picked retrain arm (direct = confounded vs the 28/100 floor, follow-up arm = clean A/B ~2.9 GPU-h more) — owner’s call, recorded in the page SS4.

grasp-sft-token-sft-arm · gpu-local

Token-SFT arm (DRAFT pre-reg posted 14:4xZ 08-15, per R2 Amendment A1 decision 2 owner direction 10:14Z): bijou.train –objective ar –backbone-text-lr 1e-5 (2e-5 registered alt) over grasp_sft_demos_v0, –init-from the corrected…

boundary: BLOCKED doubly owner-gated: (1) route choice A/B/C per the pre-reg SS4 (A = flow retrain corrected-table draft, B = this arm, C = one –objective joint run replacing A+B under a registered merge amendment + confound acknowledgment); (2) GPU owner-reserved since 13:35Z 08-15. On route B/C go: finalization (LR decision, anchor-leg decision, HEAD re-pin, objection window) then launch at the next free boundary; endpoint gets convert_legacy + validate_checkpoint (owner main 4fd6875 VLA format) before it pins as R2’s base. If the owner re-scopes R2 to the flow head, this item PARKS with the token-GRPO lane. || V1-MIRROR AUDIT 19:1xZ 08-17 (local-dataset-mirrors-restore): NO v1-corpus dependency — trains over grasp_sft_demos_v0 (verified on local disk). Launch gap unaffected by the box kill. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): CLOSED superseded — gate (1) resolved by the owner’s route-C pick 00:18Z 08-16 (the merge amendment supersedes standalone arms A+B, eval protocols inherited); gate (2) the 13:35Z 08-15 GPU reservation lapsed (owner released the GPU 00:18Z 08-16; the queue has launched repeatedly since). The token-head read rides the joint step2000 checkpoint’s probe legs 3/4 (grasp-sft-bootstrap remainder, now queued). If token-GRPO later needs a dedicated token-SFT endpoint, refill from the posted draft — R2’s A2 re-basing clause keeps. · pre-reg

main-merge-rekeyed-train · cpu

[no pre-reg: infra debt, oracle-gated merge] Merge main (32149df: train.py modularization + mechanism-qualified loss re-keying loss_action_flow/loss_action_ar/loss_narration, –narration-weight) into fontaine: reconcile –offload…

boundary: Queued 09:50Z 08-16 at owner steering 09:19Z (message.txt attachment pinned the mapping: joint/flow {loss_action->loss_action_flow, loss_aux->loss_action_ar}; gemma/molmo2 AR {loss_action->loss_action_ar, loss_aux->loss_narration}). The completed joint run’s jsonl predates the rename — leave as-is. My loss_ce_actions rename proposal WITHDRAWN (superseded). Do at next boundary/work session — promised in-channel 09:51Z. || DONE 10:0xZ 08-16 (pulled forward at owner ask 09:58Z ‘rebased on latest main?’): merge commit dbd7cc8 — train.py modify/delete resolved by porting the six –offload-optim hunks into bijou/train/{args,cli}.py (import, TrainArgs field, zero1 exclusivity, from_raw, parser, optimizer branch); offload oracle 5/5 bitwise, check.py 913 PASSED (pre-commit re-ran full gate); read-side: fontaine/scripts/loss_keys.py (run-family mapping per owner 09:19Z note), babysit.toml header note (new entries author anchors in new keys); no fontaine launch script used –aux-loss-weight; no live reader consumed old component keys (all read combined loss, unchanged). Pushed.

sim-spawn-v2-randomization · cpu

[pre-reg to be drafted as the item’s first CPU slice: posts/2026-08-16-prereg-sim-spawn-v2.md

boundary: Queued 09:50Z 08-16 at the owner steering. CPU slice executable now: pre-reg draft + spawn-v2 sampler + reachability probe harness (oracle-tested, no GPU). GPU slices (demo re-collect, retrain, eval) sequence AFTER the joint probe chain closes and behind any owner priority call — asked in-channel 09:50Z whether this outranks the token-legs report. || PRE-REG DRAFT LANDED 10:3xZ 08-16 (posts/2026-08-16-prereg-sim-spawn-v2.md): v1 pinned exactly (disk fixed (0.22,0.11) r=0.04, band 7.5x4.5cm), v2 design = disk uniform over measured-workspace mask W (stage-A IK residual + shoulder static-moment instrument, precomputed polar-grid mask) + boat full annulus with rejection (in-W, r_min = disk 0.04 + hull 0.03 + margin, parked-jaw keep-out, bounded acceptance w/ loud refusal); spawn_version param, v1 bit-compat oracle-guarded, registered protocol break; consequences table A’-D’ priced (~10-12 GPU-h worst case); finalization pins = torque fraction, grid pitch, r_min/r_max, floor, A’ band. NEXT CPU slice: sim/spawn_v2.py sampler + reachability probe + oracles (after pre-reg finalization or owner go). GPU slices still behind owner priority call (asked 09:50Z). || CPU SLICE 2 LANDED 10:3xZ: sim/spawn_v2.py sampler (WorkspaceMask.from_probe residual+moment bars, area-uniform annulus, jaw keep-out, 200-draw loud refusal; DRAFT constants commented with sources) + tests/test_spawn_v2.py 5 oracles green; instrument v0 fields on the pre-reg page (chart, 425-cell mask, torque-not-binding finding) + measured sampler tail on the REAL mask (mean 7.2 attempts, max 194 of the 200 bar -> mask clean + refusal bar freeze TOGETHER, recorded SS3.1). NOT wired into SO101Sim.reset - integration + v1 stream-compat guard land post-finalization. REMAINING: probe convergence margin + morphological clean, finalization post (constants freeze + objection window), then owner-gated GPU ladder A’-D’. || INSTRUMENT v1 + MASK CLEAN LANDED 10:5xZ: v0 ring-banding root-caused to solve_ik’s 2mm SITE tol (sub-mm pad residuals were stopping luck) -> probe re-solves at 0.2mm/120-iter LOCAL to the instrument (stage-A untouched); field now SOLID 1105 cells -> cleaned() (one >=5-of-8 pass + largest component; one pass deliberately, fixpoint erodes everything) 977 cells ~29x the v1 band; sampler tail on cleaned mask mean 2.4 / p99 10 / max 35 of the 200 bar (5000 eps) - tail GONE. 7 oracles green. Pre-reg SS3.1 rewritten with both instrument iterations + SS5 now a PROPOSED FREEZE TABLE (all constants measured). REMAINING: finalization post (freeze + objection window) BEHIND owner priority call + C’ route; then wiring spawn_version into SO101Sim.reset (v1 bit-compat oracle) + GPU ladder A’-D’ (owner-gated, GPU also owner-held). || GIT-AUDIT CLOSED 15:5xZ 08-16 (work session): every remaining bullet landed under demo-gen-sharded-a100 - finalization posted (prereg SS6 FINALIZED, frozen 977-cell mask committed), spawn_version wired into SO101Sim.reset w/ v1 bit-compat oracle, A’ ladder RAN (19.8% FAIL -> servo-saturation diagnosis -> v2.1 amendment SS7, 53.8% n=400), v2.1 is the LIVE 5k generation protocol. Superseded, nothing left to execute.

wrist-transfer-screen-prereg-final · cpu

FINAL pre-registration for the wrist-transfer screen (the design memo 2026-08-14-wrist-transfer-screen-design.md frozen into a launchable pre-reg): freeze arm list {ftrig4k, simft} x {W0..W4} + T1, seeds 0-99, the knn5 honesty ax…

boundary: Queued 18:2xZ 08-14 at the squint-preflight close (depth refill; charter S4). Executable any CPU window. Simft training-data build steps stay inside the run item; this item is ONLY the frozen pre-reg document + post. | DONE 18:5xZ 08-14 (work session): FINAL pre-reg posted (posts/2026-08-14-prereg-wrist-transfer-screen.md) — design memo sections 5-7 frozen VERBATIM (programmatically diffed byte-identical), arm grid {ftrig4k, simft} x {W0..W4} + T1 frozen with seeds 0-99 (T1 0-24), knn5 honesty anchors 0.877->0.523 frozen, ladder + <=14 GPU-h gate frozen, amendment policy stated (in-channel before the affected stage, never retroactive). Design-memo caption erratum fixed in place (said ‘<=12 gate’; section-9 text’s <=14 was always the registered figure) with a dated erratum note. wrist-transfer-screen-run converted to GPU-release-only.

squint-twin-preflight · cpu

Squint SO-101 twin preflight (lit 0819, papers/squint.md; the wrist-transfer design memo’s successor tier for the success-rate form of the question): CPU-side only - install the MIT repo in an isolated venv, verify the 8 SO101*-v…

boundary: Queued 17:3xZ 08-14 at the wrist-transfer design close (depth refill; executable any window, pure CPU - no GPU needed for the preflight). Not a commitment to the twin tier: the note prices it, the wrist-transfer screen’s outcome decides it. | DONE 18:2xZ 08-14 (work session): CPU-only preflight executed GO — 8 envs register+step headless (physx_cpu + lavapipe, GPU 0 MiB throughout); pd_joint_pos verified raw absolute-joint radians end-to-end (hold drift 0.0 rad, random-walk p50 track 0.014 rad, 50-step truncation, success/info predicates plumbed); 224x224 via sensor_configs kwarg, wrist+greenscreen+third frames saved to outputs/squint_preflight/ + fontaine-reports; step cost 1.9 ms state / 27 ms wrist-rgb224 / 128 ms third-rgb224 at the CPU floor. Two API traps documented (overlay needs rgb+segmentation obs mode or silently no-ops; CAMERA_TYPE is a per-process module constant, in-process alias flip impossible). Feasibility note on the blog (2026-08-14-squint-twin-preflight.md); probe script fontaine/scripts/squint_preflight.py. Tier decision stays with the wrist-transfer screen outcome.

wrist-transfer-screen-run · gpu-local

Execute the wrist-transfer screen per the 08-14 design memo (posts/2026-08-14-wrist-transfer-screen-design.md, frozen sections 5-7 become the pre-reg verbatim): stage 0 wrist-transform hook (–wrist-transform {none,blackout,freez…

boundary: Queued 17:3xZ 08-14 at the design close. BLOCKED on the in-channel GPU release (owner reserve 12:54:19Z 08-14 stands). prereg field points at the design memo (the registered skeleton); launch still requires a posted FINAL pre-reg freezing its sections 5-7 verbatim; stage boundaries are hard stops. Stage 0 is CPU-preparable during the reserve if a session wants it early - the transform hook + oracles land without touching the GPU; honesty placement (er_60k knn5) is the only stage-0 GPU-adjacent step (~0.1 GPU-h class, still gated on the release). | PREREG-FINAL POSTED 18:5xZ 08-14 (posts/2026-08-14-prereg-wrist-transfer-screen.md): the item is now GPU-RELEASE-ONLY — the in-channel release is the single remaining blocker; stage 0 launches under the FINAL pre-reg with no further paperwork. Stage-0 CPU-preparable slice split out as wrist-transfer-stage0-cpu-prep (hook + transform oracles land under the reserve; the none bit-replay oracle + honesty placement stay GPU-gated inside this item). | GPU RELEASED in-channel 21:14Z 08-14 (‘Your GPU is all yours’) — the single registered blocker is CLEARED. Launch sequenced behind main-review-molmoact2-final deliverable (c) only: the retirement re-pointed checkpoint loading (bijou checkpoints, not HF-layout dirs + norm tags), so the frozen ftrig4k/simft launch surfaces must be verified or amended in-channel BEFORE stage 0 per the pre-reg’s own amendment policy. Stage-0 CPU prep landed (64c93e6): critical path is none bit-replay + honesty placement + stage 1. | DELIVERABLE-(c) VERDICT 21:4xZ 08-14 (main-review-molmoact2-final): NO AMENDMENT NEEDED — P1 ftrig4k (outputs/train/fontaine_flow_snapdistill_ftrig_4k_1xh100) and the stage-2 simft fine-tune are flow-pathway bijou checkpoints served via BijouPolicy –checkpoint, untouched by the phase 3-5 re-point (which moved only grpo_loop –checkpoint and rollout_sim_parallel –molmoact2-discrete); from_checkpoint changes are additive for pre-existing checkpoints. UNBLOCKED: stage 0 (none bit-replay oracle + honesty placement) launches under the FINAL pre-reg with no further paperwork — the next work session takes it FIRST. | STAGE 0 EXECUTED 22:2xZ 08-14 (c5be36f, oracles ALL GREEN): honesty placement PASS on the serving substrate (equidistant wrist — wrist_arm_mask’s registered path; W0 in-run 0.8769 reproduces the banked 0.877 manip anchor, W1 blackout 1.0, W3 arm_blur 0.8867 with paired W3-W0 CI95 [9.6e-08, 4.7e-07] excl-0 — small vs the W1 bracket, registered; mask coverage mean 1.6%); none bit-replay PASS (ftrig4k W0 seed 0 x2, episode row bit-equal, run-twice determinism form per the registered config drift); –top-transform blackout landed for T1 (chain_transforms seam, oracles green). STAGE 1 LAUNCHED 22:24:42Z unit wrist-screen-stage1 (launch_wrist_screen_stage1.sh): det gate x2 -> hold(25) -> W0/W1/W3(100 each) + T1(25), ~3-3.5 GPU-h, rc ETA ~01:0x-01:4xZ 08-15, babysit entry live (gate 5 GPU-h). Stage-1 boundary session owns the reads (sanity band, hold floor, T1 CI, spawn_xy pairing, first W1/W3 deltas) + in-channel post BEFORE stage-2 spend. || CLOSED 01:3xZ 08-15 work session at the STAGE-1 BOUNDARY, verdict F-INSTRUMENT (frozen section 4): unit rc 01:32:02Z (~3.1 GPU-h; screen total ~3.3 of <=14) — det gate PASS (launcher, 10 seeds bit-equal x2), sanity band PASS (+0.054 cm / 44 moved / strikes 0), hold floor PASS (+0.0000, strikes 0), spawn_xy pairing PASS, T1 top-blackout control FAIL (dEngagement +0.16 [-0.12,+0.44], d|progress| -0.28 [-1.29,+0.62], both CI95 straddle 0 at n=25; hook consumption receipted — 24/25 T1 rows bit-differ from W0 under deterministic draw-0). Screen ABORTS per the frozen falsifier: stages 2/3 NEVER LAUNCH, no transfer-link claim in either direction; the tier-2 renderer pilot keeps only its proxy-unit case; the fidelity->behavior question escalates to the competence tier (= the grasp-sft-bootstrap line). RECORD-ONLY: W3 arm-blur flips engagement +18/100 CI95 [+0.06,+0.29] excl-0 (62 vs 44 moved) — a wrist-appearance corruption with a detectable n=100 behavior effect while the n=25 control cannot resolve its own +0.16 point estimate; successor-design lesson: the control was underpowered ~2x vs the effect sizes the wrist arms show. W1 blackout ~0 on every channel (dProgress -0.12 [-0.80,+0.51], flips +3 [-12,+17]). Reads banked reports/analysis__wrist_screen_stage1.json (wrist_stage1_reads.py, 1a857ea); boundary post + owner status reply in-channel 01:34Z. GPU FREE 01:32Z. · pre-reg

wrist-transfer-stage0-cpu-prep · cpu

Stage-0 CPU-preparable slice of the wrist-transfer screen (per the FINAL pre-reg section 1 implementation contract + the run item’s standing note that the hook + oracles land without touching the GPU): land the –wrist-transform…

boundary: Queued 18:5xZ 08-14 at the prereg-final close (depth refill; charter S4). Executable any CPU window under the reserve. Completing it shortens the post-release critical path to: none bit-replay + honesty placement + stage 1. | DONE 21:2xZ 08-14 (tick, orphan recovery): the 18:59Z work session landed the full item then died on the usage cap before lint+commit (harness alert 19:17Z); this tick audited the diff, fixed lint+pyright, tests 11/11 + check.py 901 green, committed (64c93e6 post-rebase tip) — hook in both drivers (‘none’ routes around the hook), wrist_arm_mask W3 path, oracles, spotcheck script. · pre-reg

main-review-molmoact2-final · cpu

Review the molmoact2-retirement final code on main 26ac1e6 (owner ask 21:14Z 08-14: ‘reviewing the new code from main after you rebase and let me know your thoughts’): phases 3-5

boundary: Queued 21:2xZ 08-14 at the owner ask (21:14Z message + the handoff attachment). Executable immediately — chained work session takes it FIRST; wrist-transfer-screen-run launch is sequenced behind deliverable (c). || CLOSED 21:4xZ 08-14 work session, all 4 deliverables: (a) review post posts/2026-08-14-molmoact2-retirement-review.md + in-channel summary — verdict ADOPT, re-baseline JUDGMENT AGREE (mechanism self-verified: port replay is monolithic cat(prompt,suffix) forward, first-class is prefill+cached continuation — genuine cross-decomposition, 4.4-5.7e-5 in the phase-2 fp32 diagnostic’s decade, ratio impact 0.01% vs clip band; forcing decomposition-match to keep 1e-5 would gate surviving code on the deleted port’s kernel schedule); 4 nits ranked (train.py ~4420 dead unreachable+false print after the backbone-init-from rider raise; codec.hole_count per-DataLoader-worker undercount; molmoact2_discrete/generate.py missing the run-at-tag header note; from_numpy non-writable warning); (b) probe_grpo_replay_parity RERUN local ~21:5xZ PASS — masks bit-equal ALL 1903+1904 rows, spreads v1 med 5.68e-1/p90 1.29/max 3.92, v2 med 5.52e-1/p90 1.58/max 8.84 (report-only per registration); (c) VERDICT NO AMENDMENT — ftrig4k/simft ride BijouPolicy –checkpoint (flow pathway, untouched); re-point moved only grpo_loop –checkpoint + rollout –molmoact2-discrete; from_checkpoint additive (objective defaults flow, rider mounts only on joint_ce metadata) — wrist-transfer-screen-run LAUNCH-READY as registered; (d) Decision 11 + masked-only + full-width-Gumbel absorbed as the dated post-retirement note on the R1-B record (+ probe receipts); posts index drift fixed (squint + prereg-final entries restored).

wrist-transfer-screen-design · cpu

Wrist-transfer screen design doc (the decision brief’s move #2, design only

boundary: Queued 16:2xZ 08-14 at the decision-brief close (depth refill; executable any window, pure CPU/writing). The design must state its own falsifiers before execution is queued; no launches until the in-channel GPU release. | DONE 17:3xZ 08-14 (work session): design memo posted (posts/2026-08-14-wrist-transfer-screen-design.md) with arms (P1 ftrig4k + P2 simft sim-adaptation sanity arm; wrist columns W0 classic / W1 blackout / W2 freeze / W3 arm-mask blur / W4 measured-materials ON; T1 top-blackout positive control), honesty placement of every arm on the banked knn5 axis, paired frozen-seed 0-99 draw-0 stats, gates (W0 determinism + sanity band vs banked sim100 - git audit found the banked rows predate the fitted lens, NOT a bit-anchor; hold floor; T1 must move; placement sanity), falsifiers F-instrument/F-null/F-flat/F-live, staged ladder worst-case 12.0 GPU-h gate <=14. Schematic chart on fontaine-reports (200). Execution queued as wrist-transfer-screen-run (blocked on GPU release); squint-twin-preflight queued as the successor-tier CPU prep.

renderer-class-decision-brief · cpu

Renderer-class decision brief (analysis/writing, no run): consolidate the now-complete arm-appearance price into ONE owner-facing decision post

boundary: Queued 15:3xZ 08-14 at the content-split close (depth refill). Executable any window (pure CPU/writing). Not a pre-reg — no run, no claims beyond banked numbers; the owner call it supports is theirs to make. | DONE 16:2xZ 08-14 (work session): brief posted (posts/2026-08-14-renderer-class-decision-brief.md, chart-led, banked numbers only; lead chart chart__renderer_class_decision.png on fontaine-reports, curl 200). Tiers priced: tier-0 albedo spent (refuted x2), tier-1 in-classic cannot express relief (no normal-map input), tier-2 = STL->UV re-export (convert_benchy.py precedent) + procedural layer-line normal maps + external PBR path feeding the anchored compositor (validation tail is the real cost). Recommendation: pilot before buying — wrist-visible meshes only at the 100 banked manip slots (decides the tier for ~0.02 GPU-h), or the closed-loop transfer read; both owner-gated.

sim-manip-wrist-content-split · cpu

Manipulation-pose wrist content split: price how much of the banked 0.877 manip-pose wrist AUROC (sim-rollout-pose-wrist-read, 12:2xZ 08-14) is scene-content mismatch (no boat in the sim jaw, benchy at spawn, no real clutter) vs…

boundary: Queued 12:3xZ 08-14 at the rollout-pose read close (depth refill). Executable any GPU-busy window; pre-reg in-channel BEFORE the read; the registered caveat section of 2026-08-14-prereg-sim-rollout-pose-wrist.md is the contract this item discharges. | DONE 15:2xZ 08-14 (work session): pre-reg posted 15:13Z (owner 👍 = ack + gap-go, interpretation stated in-channel 15:21Z with veto window), CPU renders + ~30 s embed gap (~0.005 GPU-h, card at 0 MiB, reserve otherwise untouched). All gates green (reset 0.713/0.523, calibration 0.268 low-note, PRESENT manip AUROC 0.877 = banked digit, render oracles bit-exact x100). VERDICT content_nil: paired dknn5 ABSENT-PRESENT +3.28e-07 CI95 [-2.26e-07, +8.39e-07] straddles zero, content share -3.8% of the pose effect; ABSENT AUROC 0.888 (still fake-side); blind-slot control +6.4e-09; benchy-px<->|d| corr 0.011. The banked 0.877 caveat is DISCHARGED strengthening it: the rendered arm carries the whole manipulation-pose wrist gap — renderer-class decision keeps its full wrist price. Results on the pre-reg page + chart__wrist_content_split.png.

molmoact2-retirement-adoption · cpu

Adopt the molmoact2 retirement plan (docs/molmoact2-retirement.md, main 02a58e0; owner ask 12:46Z 08-14, thoughts + sign-offs posted in-channel 12:50Z): (1) rebase fontaine onto main >= db0a141 (T1 ar_fast retirement + T2 residua…

boundary: Queued 12:5xZ 08-14 at the owner ask. Step (1) executable at the current run boundary AFTER grpo-r1b-boundary-reads (banked rows consumed via current import paths first); steps 3-4 sequenced with the owner’s phase landings — never under a live run. | Moved ahead of sim-manip-wrist-content-split 13:1xZ 08-14 (the 12:5x signed order: rebase after the boundary reads; main is already >= db0a141 at 51704c0, so the rebase step is executable now). | STEP (1) DONE 13:3xZ 08-14 (work session): fontaine rebased onto main 51704c0 (137 commits replayed, one conflict — model.py ar_predict_sampled docstring, action_capture doc kept + retired ar_fast mention dropped, exactly plan §0’s predicted surface); check.py 858 green + grpo oracle suite 43 green post-rebase; pushed –force-with-lease (old tip tagged pre-rebase-51704c0). Steps 2-4 remain: track phases 1-3 as they land on main; phase-4 co-land blocked on owner ladder adjudication + phase landings. | PHASES 0a+1 LANDED on main c57ce05 (observed tick 13:4xZ 08-14: vendored parity fixtures + leaf promotion; 16 files, +5604/-743 incl. tests/test_fast_molmoact2.py). Step (2) adoption executable: rebase fontaine 51704c0-base onto c57ce05, check.py + grpo oracle suite green post-rebase — chained work session takes it ahead of the wrist-content-split pre-reg. Phases 2-3 not yet landed; phase-4 co-land still blocked on ladder adjudication. | STEP (2) DONE 13:5xZ 08-14 (work session): fontaine rebased onto main 0312ab7 (c57ce05 phases 0a+1 + the convert_molmoact2 –norm-stats-from commit); 140 commits replayed, ZERO conflicts (phase-1 predictor shim merged clean next to the discrete-pathway imports; vendored fast-tokenizer fixtures blob-identical to the carried ones, dropped as already-applied); grpo oracle suite 43 green; check.py 863 green + 2 FAILED both INHERITED from main — tests/test_molmo_flow.py byte-parity pair fails on clean origin/main 0312ab7 on this machine (fixture not byte-portable: forward max |d| 4.17e-7, <=40 ULP, 84/96 elements — kernel-order class), finding posted in-channel 13:52Z (1537821299538264114) for the owner’s call (allclose-with-tol vs per-machine regen); pushed –force-with-lease, old tip tagged pre-rebase-0312ab7. Steps 3-4 remain: track phases 2-3 as they land; phase-4 co-land blocked on ladder adjudication + phase landings. | PHASE 0(b) LANDED on main 7d89f53->77246a9 (observed 14:1x-14:5xZ 08-14: discrete-AR-head decode fixture + generator lint/pyright excludes). Adoption DEFERRED deliberately: owner 14:11Z says their local agent will push a byte-parity-fixture fix — one combined rebase (0b + the fix) closes the red pre-commit gate green in a single replay instead of two skip-checks closes. Watch held to 14:5xZ, fix not yet landed; next session/tick adopts on landing. | COMBINED REBASE DONE 15:3xZ 08-14 (work session): fontaine onto main 3131f82 (7423ec3 fixture bounds = my measurement registered, + joint-frame remap + gate-d-lite PASS doc), 143 commits zero-conflict, check.py 874 GREEN (parity pair passes) + grpo suite 43 green — pre-commit gate green again, old tip tagged pre-rebase-3131f82. | LADDER ADJUDICATED STOP 15:31Z 08-14: owner delegated (‘waits on your ladder adjudication’), I adjudicated STOP per the 13:1xZ recommendation, owner ratified 15:31Z/15:36Z (recorded in the doc at 5a2a395). Phase-4 co-land now sequenced PURELY behind the owner’s phases 2-3 landings (frozen-wave parity gate incl. the v2-reward wave unchanged). | ABSORB 15:5xZ 08-14: main 0a3bed8 (phases-2-3 handoff + anchor probe) + 5a2a395 (adjudication record) rebased in, 145 commits zero-conflict, check.py 874 green post-absorb. Remaining: watch phases 2-3 land, then phase-4 co-land + phase-5 sign-off. | ABSORB 18:0xZ 08-14 (work session): main e5b6113 (PHASE 2 EXECUTED - acceptance PASS byte-equal x6, logprobs 2.4e-7 + the two decode-parity probe commits) rebased in, 8 commits zero-conflict, check.py 879 green + grpo oracle suite 43 green post-absorb, pushed –force-with-lease (old tip tagged pre-rebase-e5b6113). Remaining: watch phase 3 land, then phase-4 co-land + phase-5 sign-off. | ALL PHASES COMPLETE + ADOPTED 21:2xZ 08-14 (tick): owner delegated finishing the plan — phases 3-5 landed on main 26ac1e6 (objective matrix, grpo_replay re-point + frozen-wave replay-parity gate executed on my banked R1-A/R1-B waves with receipts [masks bit-equal, logprobs <=5.7e-5 vs re-baselined 1e-4, per-token deltas <=6.5e-8], bijou/molmoact2/ DELETED); fontaine rebased onto 26ac1e6 ZERO conflicts (16 commits, 836 non-GPU green, old tip tagged pre-rebase-26ac1e6). Phase-4 co-land + phase-5 sign-off overtaken by the owner-side execution; my review/sign-off moved to main-review-molmoact2-final (owner ask 21:14Z).

sim-rollout-pose-wrist-read · cpu

Rollout-pose wrist gap read: the one unmeasured leg the consolidated report flags

boundary: Queued 11:2xZ 08-14 at the consolidated-report close (depth refill). Executable any GPU-busy window; pre-reg in-channel BEFORE the read; if the owner answers the promotion asks first, fold the flipped defaults into the arm set. | CLOSED 12:2xZ 08-14: executed as sim_rollout_pose_wrist_read.py with the registered premise correction (no banked sim qpos traces existed — poses taken from the REAL held-out episodes’ recorded observation.state, exact pose-matched). Two registered ABORTS banked first (interleaved-calibration temporal leakage 0.129; symmetric band vs the protocol’s real-real drift floor 0.268 — amendments 1+2 on the pre-reg page). Final: manip-pose wrist AUROC 0.877 = GAP REAL (understated in this calibration direction); material stack REGRESSES the wrist at manip poses (+3.99e-07 CI [+2.0,+6.3]e-07); pose effect +8.7e-06 (1/100). Riders replicated banked digits (reset top -1.49e-07, reset wrist neutral, anchors 0.713/0.523 x3 runs).

sim-appearance-consolidated-report · cpu

Appearance programme consolidated report (chart-led, closed-screen rule): the sim top-cam appearance screen is measured end-to-end

boundary: Queued 11:1xZ 08-14 at the full-optin-stack close (depth refill; owner standing preference: chart-led consolidated reports for closed screens). Fully CPU, no pre-reg needed (no new claims). If an owner promotion call lands first, fold the decision into the report rather than re-scoping. | CLOSED 11:2xZ 08-14: report posted (posts/2026-08-14-appearance-screen-report.md, chart-led, banked numbers only), lead chart chart__appearance_screen_ladder.png on fontaine-reports (curl 200), reports.md consolidated entry added, in-channel post 11:28:26Z. Promotion guidance on record: clutter = payload, materials = free riders, remainder = renderer-class (geometry/relief).

grpo-r1b-boundary-reads · cpu

R1-B boundary reads at rc (ETA ~19:3xZ 08-14, unit grpo-phase2-r1b): execute the pre-reg’s registered reads

boundary: Queued 09:5xZ 08-14 at the R1-B launch. Blocked until rc/tripwire; any session at rc executes; babysit rides it meanwhile (~30-min checkpoints, poll forced last). | UNBLOCKED 12:5xZ 08-14 tick: R1-B SELF-STOPPED on the knockaway wire 12:40:50Z (fresh steps 0.328/0.3125/0.4531 all > 0.167, exit 3 rc 3) — the S6-style stop reads apply. Banked endpoint step_0006.pt (step-7 update exited pre-save); step-7 telemetry REVERSED step 6 (earned 1.66->0.58 cm, reward_mean -0.26->-1.21). Pre-reg §4 registered contingency = the finding: wire re-fired under v2 => shoving not reward-driven at this surface. Reads owed: paired delta at step_0006, behavior-prediction judgment, ladder verdict for owner adjudication; step_0006 weights-only upload; results section + chart + in-channel. Cost ~2.95 GPU-h, ladder cum ~8.1 of 22. EXECUTE FIRST in the chained work session. | CLOSED 13:1xZ 08-14 work session: all reads executed on the banked jsonl (CPU only, GPU untouched under the owner reserve). Calibration PASS (8/8 groups kept every wave, median std 3.27/3.02/2.14 -> no lambda amendment); PRIMARY flat (+0.0246 CI95 [-0.0716,+0.1455] at step_0006 vs the 1.868 pairing, probe digit-identical steps 5/6); behavior prediction FALSIFIED on the deciding channel (ungrasped_disp decayed 4.98->4.60->4.20 cm but knockaway rose to run-max 0.4531, earned collapsed to 0.58) -> registered finding: shoving is a competence artifact, not reward-driven. Recommended ladder verdict STOP posted for owner adjudication (post 1537810884318199889). step_0006_weights.pt (2.9 GiB) + train.jsonl + meta.json on fontaine-checkpoints grpo_phase2_r1b/; chart__grpo_r1b_boundary.png on fontaine-reports; results section on the pre-reg page. · pre-reg

grpo-r1b-repriced-launch · gpu-local

R1-B re-priced ladder (option 1, owner-approved 09:16Z 08-14, sequenced behind grpo-reward-patch-prereg): resume from banked step_0004 (fontaine-checkpoints/grpo_phase2_r1a, weights-only) under the PATCHED reward with lr 3e-7 + k…

boundary: LAUNCHED 09:43:20Z (unit grpo-phase2-r1b), rc ETA ~19:3xZ 08-14; babysit registry entry live. Boundary reads at rc per the pre-reg (accumulate or the ladder stops). | SELF-STOPPED 12:40:50Z 08-14 at fresh-step 3-of-3 (jsonl step 7): knockaway wire 0.328/0.3125/0.4531 vs 0.167 x3 — registered exit 3, unit rc 3, GPU released. step_0006.pt banked on disk. ~2.95 GPU-h this run (09:43-12:40Z). Boundary reads item unblocked. · pre-reg

sim-full-optin-stack-read · cpu

Full opt-in stack read (prices the combined promotion): the owner has three pending appearance promotions measured SEPARATELY (clutter real-crop patches 0.713->0.556; arm_photometrics 0.713->0.698; mount rides the stack at 0.713-…

boundary: CLOSED 10:58Z 08-14 rc=0, all gates green (in-run v3 0.7127 band-center; in-run patched 0.5561 bit-matching the banked fg-fix read; cross-instance qpos/draws/affine bit-equal x100; changed-px 12.3% material footprint). MIDDLE BRANCH of the frozen rule: paired stack vs v3 -2.075e-06 CI [-2.254,-1.891]e-06 (99/100) but stack AUROC 0.5521 > bar 0.5511 (beats best single by only -0.0040 < eps 0.005). Materials’ marginal on top of clutter -5.50e-08 CI [-1.44e-07,+3.37e-08] straddles 0 (~1/3 of banked solo effect) — attenuated ~3x, statistically absorbed. Additivity: predicted 0.5458 measured 0.5521, interaction +0.0063 sub-additive. Disposition: clutter carries the combined gain (promote first/alone); material flags safe to stack but not additive as separately sold; bigger-n marginal read priced only on owner request. Results in the pre-reg post + in-channel 11:00Z. · pre-reg

grpo-reward-patch-prereg · cpu

GRPO reward patch (option 2, owner-approved 09:16Z 08-14): the R1-A tripwire caught REWARDED shoving leakage - composite_reward’s dense progress term pays cm-for-cm for boat displacement without a grasp, and knock-away is only th…

boundary: CLOSED 09:4xZ 08-14 same session as approval: instrument + reward v2 landed (5932fb6), pre-reg posted 09:43Z, R1-B launched under it 09:43:20Z. · pre-reg

sim-arm-surface-texture-mjspec · cpu

TRUE surface texture for the arm links via the mjSpec recompile path (escalation registered by the micro-texture REFUTATION 05:4xZ 08-14: statistically-matched screen-space grain read MORE fake - both CIs above zero, 0.698->0.751…

boundary: CLOSED 09:2xZ 08-14, work session: instrument landed (e408f9e, 11/11 physics oracles, zero-clip tanh generator, reflection rider registered), fit capped at the 0.42 no-clip headroom (lc 6.43 of real 8.36), registered 20x5 read all gates green -> SECOND REFUTATION: PRIMARY +3.07e-07 CI [+2.42,+3.71]e-07 (0.698->0.718), MECHANISM +1.98e-07 (0.652->0.671). Arm-texture direction COLD at this abstraction level; graded arm stays the frontier; no further texture rung auto-queued (a normal-map / renderer-upgrade rung is a new design decision, owner-ask only). · pre-reg

sim-wrist-view-material-read · cpu

Wrist-view read of the arm material fixes (follow-on to sim-arm-photometric-links + sim-mount-material-split, both banked opt-in): the wrist camera sees the arm links/gripper up close, and both material fixes change wrist-view pi…

boundary: Queued 04:5xZ 08-14 at the mount close (depth refill). CPU renders + ~0.02 GPU-h embeds; fully executable without the promotion (opt-in flags). EXECUTED + CLOSED 06:0xZ 08-14: all gates green (top 0.713 dead-center, wrist 0.561 in the registered reset band); PRIMARY wrist paired dknn5 -1.39e-08 CI95 [-4.53,+1.73]e-08 STRADDLES ZERO -> wrist-neutral; visibility diagnostic: ~230 raw px of graded surface at home pose (servo 208/pla 21/mount 1); top rider replicated the mount read’s stack delta bit-for-bit. Promotion asks proceed on top-side evidence, measured not assumed. Rollout-pose wrist gap (0.828) stays open, priced separately, not auto-queued. · pre-reg

sim-mount-material-split · cpu

Camera-mount material split + white retexture (rider finding 08-14: the mount is WHITE/silver in reality, sim paints it black via _recolor_arm; arm-split read no_mount as the ONLY removal moving v3 toward real, 0.713->0.654 on 0.…

boundary: Queued 02:1xZ 08-14 at the photometric close. The per-pixel most distinctive class — likely the highest-leverage remaining arm fix. CPU + ~0.02 GPU-h per gate read. | EXECUTED + CLOSED 04:4xZ 08-14: material split via byte-identical gripper detach (oracle-pinned), real mount mined riding the dark gripper/wrist locks (81/156 frames, 91k px, NEUTRAL LIGHT GRAY [123,120,125] vs recolor black), fit chose the links’ specular ceiling (1.0/0.1, albedo 0.455/0.430/0.431). Registered read SPLIT VERDICT: MECHANISM PASS decisively (only_mount_v1 0.821->0.793, CI [-1.16,-0.90]e-6, 93/100; vs plate -2.67e-6 at 100/100 — amputation confound REVERSED, presence now beats absence) but PRIMARY FAIL (v3_mount vs v3 CI includes zero, 0.66% px below the frame read’s floor) -> NO standalone promotion ask per frozen rule. Record-only: two-flag stack 0.713->0.702 CI-excl-0 — mount rides free if the photometrics promotion flips. Amendment 1 (locality oracle -> table-reflectance bound, 0.02 reflectance) logged pre-read. Banked opt-in mount_material=‘v1’; no follow-up mount item (nothing to execute unless promoted). · pre-reg

sim-arm-texture-followup · cpu

Arm texture follow-up (registered in the photometric pre-reg fail/residual branch): the grade closes the albedo+shine gap but leaves (a) print-layer local contrast real 8.4 vs graded 4.7 and (b) the servo glint tail p97 206 vs 125

boundary: Queued 02:1xZ 08-14 at the photometric close. Lower priority than the mount material split (bigger per-pixel offender). CPU + ~0.02 GPU-h per gate read. | EXECUTED + CLOSED 05:4xZ 08-14: composite-stage micro-texture (arm_texture=‘v1’, deterministic static fields, zero shared-RNG draws, 6 oracles) fitted through the production composite to the mined real stats (PLA lc 8.24 vs real 8.36 dead-on; servo speckle-only, tail ~20% closed). Registered 20x5 read, all gates green (v3_photo 0.698 dead-center): REFUTED decisively in the registered over-texturing direction - PRIMARY +9.33e-7 CI [8.27,10.42]e-7 ABOVE zero, 3/100, AUROC 0.698->0.751; MECHANISM +1.30e-6 CI [1.22,1.38]e-6, 0/100, 0.652->0.740. The encoder reads spatial structure, not pooled statistics; screen-space grain reads as blotch. No promotion ask; escalation queued sim-arm-surface-texture-mjspec (not auto-run); flag stays opt-in. · pre-reg

sim-arm-photometrics-promotion · cpu

Promote arm_photometrics=‘v1’ into production v3/v4 defaults (registered read GREEN 02:1xZ 08-14: v3 0.713->0.698 CI-excl-0, only_links 0.705->0.652; commit 4515ab4): flip the default in SO101Sim (+ rollout/eval surfaces that pin…

boundary: OWNER_HOLD per the registered rule (pre-reg decision rule: no default flip without sign-off; same contract as clutter-patch promotion 05:40Z 08-13). Asked in-channel 02:1xZ 08-14 with the results post. | STACK READ 10:58Z 08-14: safe to stack with clutter patches (no regression, point estimate still negative) but the banked solo gain is attenuated ~3x and statistically absorbed at n=100 next to clutter — NOT additive as separately sold; stacked value unresolved, bigger-n read priced on request. | ROLLOUT-POSE READ 12:2xZ 08-14: the stack (photometrics+mount) REGRESSES the wrist at manipulation poses — paired +3.99e-07 CI95 [+2.0e-07,+6.3e-07], 22/100 closer (graded surfaces ~3,200 px there vs ~230 at reset; the 08-14 ‘wrist-neutral’ was a visibility floor, not clearance). Flip decision now prices a measured wrist-side cost against the absorbed top-side gain. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): DECIDED NO-GO by Fontaine (announced in-channel) — the flip’s priced trade reads negative: the solo top-side gain is statistically absorbed next to clutter patches (stack read 10:58Z 08-14) AND the stack measurably regresses the wrist at manipulation poses (12:2xZ 08-14, CI-excl-0). CLOSED decided-no. Reopen condition: renderer-lane evidence or a bigger-n stacked read repricing it. · pre-reg

token-grpo-phase2-run · gpu-local

Token-GRPO phase-2 RUN — R0 COMPLETE 20:54:30Z 08-13 rc 0 (4 launches; crashes: device mix 9ffc1c1, Adam-init OOM d0b9a44, worker-headroom OOM 78cbb65; launch 4 = step_0001.pt resume, R1 resume path validated)

boundary: CLOSED 20:5xZ 08-13 at the R0 STOP boundary. Follow-up = token-grpo-phase2-rescope-prereg (queued): the registered option-A fallback + collapse mitigation, NEW pre-reg before any launch. · pre-reg

sim-arm-photometric-links · cpu

Arm photometric fix, named target LINKS both instances (arm-split diagnostic 06:4xZ 08-13: links 88% of the arm’s keep-only delta on 6.1% px; follower/leader sub-additive so both must be treated): replace the flat recolored link…

boundary: Queued 06:4xZ 08-13 at the arm-split close; CPU render + ~0.02 GPU-h embeds per gate read. | EXECUTED + CLOSED 02:1xZ 08-14 (commit 4515ab4): mined real link pixels at recorded poses (142 frames), fitted material grade (spec 1.0 shin 0.1, measured albedos), opt-in arm_photometrics=‘v1’; registered read GREEN — PRIMARY v3 0.713->0.698 CI-excl-0, MECHANISM only_links 0.705->0.652 (96/100), matches the no_mount amputation ceiling without amputating. Promotion + follow-ups queued as their own items.

discord-unreplied-inbox · cpu

Harness fix — discord unreplied inbox CLOSED 00:3xZ 08-14 (process-integrity, from the 08-13 missed-reply incident): discord.py read now appends every surfaced non-bot message to state/discord_unreplied.jsonl (dedupe by id); re…

boundary: CLOSED 00:3xZ 08-14; the structural fix for the ~2 h / ~1 h reply-latency class.

token-grpo-phase2-rescope-prereg · cpu

Token-GRPO phase-2 RE-SCOPE pre-reg (the R0 STOP boundary’s registered fallback, 20:5xZ 08-13): design + pre-register the next rung on option A (patch-only trainable surface

boundary: CLOSED 22:1xZ 08-13 work session: pre-reg FINAL posted (posts/2026-08-13-prereg-token-grpo-phase2-r0a.md, frozen 81e020c) + instrument landed oracle-gated (69b03e8: option-A surface, differentiable KL penalty beta 0.5, advantage clip 2.0, kl-stop 0.06 mechanized; 18 loop oracles, check.py green). R0-A LAUNCHED same session (launch 2 21:58:04Z after the MUJOCO_GL env fix, addendum 1); run item queued at head.

token-grpo-phase2-r0a-run · gpu-local

Token-GRPO phase-2 R0-A smoke LIVE (launch 2 21:58:04Z 08-13, unit fontaine-grpo-r0a, pre-reg frozen 81e020c): 2 steps on option A (patch-only, ~10.5M params) at lr 1e-6, adv clip 2.0, kl_beta 0.5, kl-stop 0.06, eval-every 1

boundary: CLOSED 00:1xZ 08-14 work session: R0-A COMPLETE 00:05:09Z rc 0 (2.12 of 3.0 GPU-h ops gate), boundary verdict GO — all frozen reads green (wave-2 signal alive 2.03 cm 8/8 vs R0’s same-seed collapse; eval delta -0.0239 CI [-0.0716, 0.0]; anchor_k3_pre 5.5e-07; VRAM 33.91; pace cum projection 20.3 <= 22). R1-A launched 00:06:00Z by the frozen rule; r1a ride item queued. Results section in the pre-reg post. · pre-reg

grpo-phase2-boundary-decision · cpu · ⛔ owner hold

Token-GRPO phase-2 boundary decision (OWNER CALL, options posted in-channel 03:1xZ 08-14 at the R1-A tripwire stop): (1) R1-B re-price lr 3e-7 + kl_beta 1.0 from the banked step_0004 (fontaine-checkpoints/grpo_phase2_r1a, weights…

boundary: RESOLVED by owner steering 09:16Z 08-14: ‘(2) then (1)’ approved in-channel (+ knock-away definition question, answered 09:21Z). Spawned grpo-reward-patch-prereg (option 2, next) and grpo-r1b-repriced-launch (option 1, sequenced behind the patch). · pre-reg

token-grpo-phase2-r1a-run · gpu-local

Token-GRPO phase-2 R1-A LIVE (00:06:00Z 08-14, unit fontaine-grpo-r1a, resume of R0-A step_0002.pt, steps 3-17, same frozen constants): babysit rides it (~0.96 GPU-h/step incl

boundary: Queued 00:1xZ 08-14 at launch. Leg budget 16.5 GPU-h in-registry; ladder cum ~20.3 of gate 22 at rc; 35 GPU-h total unchanged. | SELF-STOPPED 03:05Z 08-14 at step 5/17: knockaway tripwire exit 3 (fresh waves 0.406->0.359->0.312 vs the 0.167 x3 line — registered behavior). S6 endpoint reads: eval flat 1.8441 2/20 through step 4 (delta -0.0239 CI [-0.0716,0.0] touching zero — unharmed, unimproved; accumulation question cut short); knockaway pooled 69/192=0.359 but DECAYING while train success recovered 0->4->4; drift gentle (k3_pre 8e-7, nll softening). FROZEN RULE: tripwire -> NO R2-A. step_0004 weights-only -> fontaine-checkpoints/grpo_phase2_r1a (verified). Cost ~2.95 GPU-h (ladder cum ~5.1 of 22). Boundary options in-channel 03:1xZ (R1-B re-price / reward-patch pre-reg / stop) — owner adjudicates. · pre-reg

token-grpo-phase2-instrument · cpu

Token-GRPO phase-2 instrument build (CPU, oracle-gated, zero behavior change - all new flags default-off), per posts/2026-08-13-token-grpo-phase2-design.md section 8: (1) –emit-training-rows on the parallel driver (frames + samp…

boundary: closed 2026-08-13

molmoact2-ar-head-port · cpu

MolmoAct2 AR (discrete) head port - owner steering 10:02Z 08-13 (‘focus on that checkpoint and also just on AR GRPO for now’, plan 👍’d in-channel): wire the release checkpoint’s trained discrete pathway into our port so token-GRP…

boundary: closed 2026-08-13

sim-arm-appearance-leg · cpu

Arm appearance leg: the rendered arm (~7.1% of pixels) carries the remaining ceiling to the real-fg anchor (patched 0.556 / no_clutter 0.576 >> real-fg 0.328; only_arm 0.654 vs plate 0.866 in leg (a))

boundary: Closed 06:4xZ 08-13; follow-on photometric leg queued with the named target. · pre-reg

sim-clutter-patch-promotion · cpu

Promote the real-crop clutter patch paste into production v3/v4: move clutter_patch.py paste into sim/so101_sim.py as the default clutter appearance (patched plate at _draw_content, clutter geoms dropped from the top render/mask/…

boundary: Queued 05:4xZ 08-13 at the appearance-pass close. Implementation ~1 session CPU; re-gate on the pinned 20x5 probe (~0.02 GPU-h) before any behavioral eval moves. | STACK READ 10:58Z 08-14: clutter patches carry essentially the whole combined three-flag gain (stack 0.5521 vs patched-alone 0.5561, materials marginal absorbed) — this promotion is the payload; promote first or alone. | ROLLOUT-POSE READ 12:2xZ 08-14: no bearing on this item (wrist rides the raw render; clutter patch is top-composite only) — still the payload, promote first or alone. || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): DECIDED GO by Fontaine (announced in-channel) — the sign-off gate dissolves; the registered gate evidence PASS stands (patched 0.556 vs v3 0.713, carries the whole stack gain per the 10:58Z 08-14 stack read). CPU implementation next free work slot; the registered re-gate on the pinned 20x5 probe (~0.02 GPU-h) before any behavioral eval moves stays.

sim-foreground-appearance-pass · cpu

Foreground appearance pass - ALL LEGS DONE 05:4xZ 08-13. Leg (a) 04:5xZ: clutter the unique material class (no_clutter 0.576 vs v3 0.713, -0.137)

boundary: Closed 05:4xZ 08-13; promotion + arm-appearance follow-ups queued separately.

sim-top-gap-foreground-decomposition · cpu

Locate the remaining top-cam encoder gap (knn5 AUROC 0.713, unchanged by lens arms - it is the frontier number now that wrist reads 0.523 under curve-only): ablation embeds on the same 20x5 reset renders

boundary: EXECUTED + CLOSED 04:0x-04:3xZ 08-13 (pre-reg 04:03Z, results in-channel same session). Verdict: real-fg arm 0.328 (= clean anchor 0.283, below the 0.5 null) vs v3 0.713 -> the whole residual top-cam gap lives in the RENDERED foreground pixels; arithmetic residue fg->plate minus plate-only +0.004 AUROC (paired +2.3e-07 CI-excludes-0 but ~5% of the armless shift, under the +0.05 bar); armless arms read FARTHER (0.869/0.865, 0/100 closer) - labeled confound, no-arm is itself OOD; shadow-band crop near-ceiling (0.989/0.988) but the box covers the arm region. v4 paired read replicated (-8.3e-08, 66/100 closer). Registered decision -> next leg = foreground appearance (sim-foreground-appearance-pass queued). Artifacts: reports/analysis__sim_top_gap_decomposition.json + chart + arm strip on fontaine-reports (curl-200); reports.md section; ~0.02 GPU-h.

token-grpo-phase2-design-memo · cpu

Phase-2 token-GRPO design memo + pre-reg draft (AR trunk, t=1.0) per the frozen GRPO-signal-probe decision rule (both families cleared 08-13 00:0xZ: AR t=1.0 0.771 cm vs 0.25 bar at ~zero KL cost -> token-GRPO first, Flow-GRPO SD…

boundary: EXECUTED + CLOSED 06:0xZ 08-13 (work session): design memo + pre-reg DRAFT posted as posts/2026-08-13-token-grpo-phase2-design.md. Contents per scope: measured-pace budget model (1.13 GPU-h/cell -> ~0.0094 GPU-h/episode -> ~0.75 GPU-h/RL-step; corrects the 08-12 sketch ~5x up), ladder R0 smoke 2 / R1 15 / R2 +25 steps, ~33 GPU-h gate 35 with R1->R2 boundary rule; composite reward (progress_final_cm + 10 success bonus - 2 tip - 5 strike, z-scored in-group ddof0, zero-var groups dropped); S=8 seeds x G=8 at t=1.0, clip-higher [0.8,1.28], mu=1, lr 5e-6, KL off but measured vs frozen er60k anchor; trainable-surface fork A patch-only vs B patch+text-stack (B recommended, 69.2 GiB preflight precedent); 5 tripwires incl. spread-collapse + violence-explosion off the probe’s knock-away-tail hypothesis; instrument delta 4 items riding ActionCaptureStep. Owner asks: phase-2 go (re-posted), A/B fork, instrument-prestart permission. NO launch, NO registration - draft finalizes on go.

release-eval20-officialmap · gpu-local

OWNER FOLLOW-UP 18:19:08Z 08-12 (FIRST GPU claim): rerun release-eval20-convmap under the OFFICIAL LeRobot v3.0->v2.1 conversion the owner linked (irenegracekp/molmoact2-so101 inference.py: offsets 0,90,90,0,0,0; signs 1,-1,1,1,1…

boundary: DONE 19:1xZ 08-12 work session (ridden in-turn, per-episode Discord stream per owner ask): sign-carrying –convmap-override landed (JOINT=[SIGN,]OFFSET + oracles) + –rows-jsonl per-episode stream; tripwires under official map recorded (lift mirror covers 7.5% vs +180’s 27.9%; arm B first-action 2.62 vs anchor 6.31; arm A wrist identity 34.0 = known clamp signature, owner ordered anyway); both 20-seed arms run ~0.25/0.4 GPU-h. RE-DISPOSITION: INERT PARTIALLY OVERTURNED — official lift sign unlocks scene engagement (arm A seed 6 reach to 1.4 cm +4.61, seed 16 knock-away -5.26 = boat TOUCHED; arm B 2 approaches) but 0/20 pickups both arms, median 0.00; parent conclusion (grounding not units is the blocker) STANDS. A vs B null (-0.02 [-0.75,+0.66], 11/20 ties) — snippet identity wrist stays canonical. vs ftrig arms all CI-incl-0. CANONICAL SHIM = snippet map exactly (1,-1,1,1,1,1 / 0,90,90,0,0,0). MIRROR_MARGIN estimator lesson flagged to the box in-channel. Results: pre-reg amendment 1 + chart + rows + 40 videos on reports Space; Discord launch/per-episode/results posts 18:58-19:0xZ. · pre-reg

release-eval20-convmap · gpu-local

OWNER PRIO 17:13:24Z 08-12 (FIRST GPU claim): released MolmoAct2-SO100_101 checkpoint directly in sim, WITH the unit shim per the owner-forwarded box note (/tmp/owner_note_molmoact2_norm.txt, committed copy fontaine/notes/molmoac…

boundary: DONE 18:1xZ 08-12 work session: shim verified (final map lift+180 elbow+90 wrist_roll-90; first-action 2.98 vs anchor 6.31), both pre-GPU tripwires dispositioned, 20 seeds run — release INERT (0.00 all seeds, boat never touched; repeatable off-task park). Cross-check banked and posted (lift AGREE; elbow agrees past the midpoint-gate near-tie; wrist_roll -90 empirical). Commit 5b3783e; rows/videos/chart on reports Space release_convmap/. · pre-reg

grpo-signal-probe · gpu-local

GRPO signal probe (proposed in posts/2026-08-12-grpo-sim-design-memo.md SS4, pends owner review - the memo’s ask #1): rollout-only measurement of whether group-relative advantage has signal at our competence floor

boundary: Queued 11:4xZ 08-12 at memo close. BLOCKED on owner review of the memo (ask posted in-channel 11:4xZ). Memo SS4 is the draft-level design (linked as prereg); on approval: finalized pre-reg with final thresholds + instrument delta FIRST, then sequenced strictly after sim_parallel_oracle.py (owner 09:32Z first-GPU-item rule) AND the v3 rerun (anchor rows come from it). | APPROVED 13:16Z 08-12 (‘Yes, let’s do this, get everything ready for when I give you back the GPU’) - 5 cells x 15 seeds x K=8 (+120 episodes vs the 4-cell shape). UNBLOCKED for prep: finalized pre-reg + EM sampler + a=0 bit-identity oracle land CPU-side ahead of release; GPU sequence per owner 13:36Z = parallel oracle -> molmoact2-ftrig-sim-eval-20 -> this probe (anchor rows still want the v3 rerun). | PREP COMPLETE 20:1xZ 08-12 (work session): finalized pre-reg POSTED (posts/2026-08-12-prereg-grpo-signal-probe.md — frozen: seeds 0-14, –episode-seconds 30 [the item text’s ‘15 replans’ was drift, sim100 protocol is 30 replans = 30 s], signal bar median group std >= 0.25 cm, 5 cells + 2 anchor passes + registered a=0.3 hedge cell 5b, decision rule, gate <=3.5 GPU-h parallel workers=8, within-driver paired-only discipline per the parallel-oracle FAIL). Instrument ALL LANDED: SDE sampler 80a5388, sequential draws 0f7ea86, SDE end-to-end + parallel (seed,draw) units 8b6d034, –episode-seconds c26a99e; check.py 797 green. Owner 13:36Z sequence SATISFIED (parallel oracle done 14:37Z, molmoact2-ftrig eval done 19:06Z) => LAUNCH-READY on GPU handback; launch checklist in the pre-reg (re-pin HEAD + checkpoint paths, babysit entry at launch). v3-rerun row join demoted to record-only cross-check (drivers differ), so the probe no longer hard-depends on the v3 rerun. | LAUNCHED 21:33:58Z 08-12 tick (standing-sequence handback call): unit fontaine-grpo-probe via launch_grpo_signal_probe.sh at HEAD 85e9a16 (2 anchors + 5 cells, out-dir outputs/sim/grpo_signal_probe); babysit entry live, first poll 85% util; ~2.8 h wall projected, results post at completion closes this item. | CLOSED 01:1xZ 08-13 (work session, ridden end-to-end): TRIPWIRE fired at cell-1 boundary (measured ~1.13 GPU-h/cell, 7-pass plan -> ~5.9 GPU-h) -> re-scoped in-channel 21:58Z (no objection): anchors + cells 1/2/5 ran, cells 3/4 (flow ODE fresh-noise, the channel the ceiling-ladder read already measured NULL) parked, re-queue on owner call only. ALL RUN CELLS CLEAR the 0.25 cm bar: cell1 AR t=1.0 0.771 (cost -0.351 CI [-1.117,+0.207]), cell2 AR t=1.6 2.461 (cost -1.081 CI [-1.556,-0.634] - dominated by cell1), cell5 SDE a=0.5 1.860 (cost -0.734 CI [-2.240,+0.294]); 5b hedge NOT triggered; 0 reset strikes everywhere. DECISION (frozen rule): BOTH families clear -> phase 2 = token-GRPO on AR at t=1.0 first, Flow-GRPO SDE second, joint parked. ~3.57 GPU-h vs 3.5 gate (announced overage). Results: amendment 1 on the pre-reg page, chart + reads JSON on reports Space, per-cell in-channel posts at every boundary. GRPO-on-sim does NOT park. · pre-reg

sim-fit-real-lens-model · cpu

Fit the REAL rig lens into the wrist render (lit 0823 papers/fisheye-lens-fitting.md, owner-adopted 22:31Z 08-12 over wrist compositing): replace the assumed ideal-equidistant warp (V1_SRC_FOVY 72 source) with (a) theta->r fit by…

boundary: Queued 22:3xZ 08-12 on owner adoption. Sim-visuals lane; natural sequence: plumb-line fit (pure CPU, this or next session) -> cubemap render path -> probe-gated swap. Pairs with sim-composite-contact-shadows (same probe harness). | LEG (a) DONE 01:4xZ 08-13 (5581d6d): plumb-line theta->r fit landed (fit_lens_plumbline.py + oracles tests/test_lens_plumbline.py + house chart, outputs/sim/lens_fit/wrist_lens_fit.json). 382 seam chains from 132/150 pinned frames. FINDINGS: optical center (297.7, 253.2) — 22 px left / 14 px below the image midpoint (cx ~5-sigma by 20-frame-bootstrap); curve k2=+0.033 k4=+0.024 — the real lens compresses the periphery MORE than ideal equidistant: ray placement -2.2 px at r=240 (CI95 [-3.9,-1.2]), -12.8 px at the corner r=400 (CI95 [-17.2,-10.0]), both CI-exclude-0. Plank straightness RMS 1.07 px (deployed assumption) -> 0.90 px (fitted); decompositions center-only 0.95 / curve-only 0.94. Remaining legs: (b) cubemap->equirect->fitted-lens render path (removes the 72-deg source ceiling; the fitted (cx,cy,k2,k4) is its stage-2 resampler spec), (c) probe-gated swap (wrist 5-NN must hold <=0.548, reset-render probe ~0.02 GPU-h). | LEGS (b)+(c) DONE, ITEM CLOSED 03:4xZ 08-13 (25cf643 + close-out commit): cubemap->fitted-lens wrist render path landed behind lens_model=‘fitted’ (SO101Sim; output->face map precomputed so runtime = one gather + per-referenced-face renders, 92-deg faces, face focal matched to the deployed source, base-axis headlight re-point kills the face-boundary shading seam; 8 oracles tests/test_sim_fitted_lens.py incl. top-cam bit-identical + rotated-cubemap self-consistency). GATE READ (pre-reg 03:27Z, results 03:40Z in-channel, 20x5 resets er60k, control 0.560): full fit 0.667 FAIL, center-only post-hoc arm 0.672 (center shift alone reproduces the regression - pose-degenerate with the 08-12 wrist re-tune), CURVE-ONLY REFIT 0.523 PASS (<=0.548 gate), paired dknn5 -7.6e-07 CI95 [-8.5e-07,-6.8e-07], 96/100 frames closer, ~7x the contact-shadow GO effect, cost-neutral (1 face/tick, 73 vs 70 ms). WRIST_LENS_FIT now pins the curve-only params; default stays equidistant pending sim100 amendment 6 (owner ask posted 03:40Z). Full-fit center use requires joint pose+lens refit -> queued sim-joint-pose-lens-refit (conditional). Artifacts on reports Space: chart__lens_gate.png, 4 gate JSONs, 3 sample frames (all curl-200).

sim-wrist-compositing · cpu

Wrist-camera compositing for eval renders (owner steering 14:27Z 08-12: ‘for eval we should be doing on both cameras’): today v2/v3 inpainting composites the TOP cam only; wrist is fully rendered (scene-matched + fisheye + grade)

boundary: Queued 15:0xZ 08-12 on owner steering. Sequenced in the sim-visuals lane at my discretion; before the next registered eval that reads wrist-driven behavior. | INVESTIGATED 22:29Z 08-12 (owner ask 22:21Z, ridden alongside the GRPO probe): CPU-only feasibility read landed (wrist_composite_feasibility.py, d177c0d) - plate start poses spread 20.8mm/5.1deg median (max 111mm/26.7deg, why the static plate mushed at 0.951); wrist is table-plane-dominated (median 100% of fisheye rays hit the plane, p10 75%) and pose is known per tick from FK, so plane-homography warp from the 26-plate bank is geometrically sound; BUT nearest-plate fill = median 87% / p10 49% BEFORE arm-footprint + parked-boat holes -> residual sim-texture seams = SIMPLER T-III partial-matching hazard. RECOMMENDED render-only wrist + document the asymmetry + spend the effort on fit-real-lens-model instead (probe headroom ~zero at 0.548; a composite’s real prize - true-lens pixel scale - the cubemap+calibrated-lens render gets seamlessly on ALL pixels). Option B (warp bank + one-time plate inpaint, ~1-2 sessions, gate AUROC <=0.548) specced in-channel 22:29Z; pends owner pick. | DECIDED 22:31Z 08-12 (owner: ‘Fair enough, let’s go with your recommendation’): wrist stays RENDER-ONLY; the composite option is rejected (probe headroom ~zero at 0.548, warp-fill p10 49% before arm/boat holes -> T-III seam hazard); the top-composited/wrist-rendered asymmetry gets a documented paragraph in the sim eval protocol; the effort redirects to fit-real-lens-model (promoted to its own queue item this session). CLOSED.

sim-wrist-bracket-flip · cpu

Flip the wrist camera-mount GEOMETRY to the real bracket-up side (owner spot 14:45Z 08-12 from the ftrig videos; probe-confirmed 15:00Z): the mount body (visual mesh + camera_box1/2 collision geoms + 12 g mass) sits 180 deg about…

boundary: Queued 15:0xZ 08-12, owner_hold: PHYSICS RE-BASELINE - flipping changes dynamics for every banked sim row (same class as the v3 rerun amendment); owner asked in-channel 15:00Z whether to execute next session. On unhold: fix + verify + short results post, then fold the re-baseline into the sim100 v3 rerun plan (one re-baseline, not two). | OWNER GO 15:01Z (‘Let’s do asap’) -> EXECUTED same session: _flip_camera_mount() at load (180 deg about mount-local x, both arms, geoms only - camera view bit-unchanged at world [0.15,-0,0.15]). VERIFIED: kinematic sweep below-table 31.9% -> 1.4% bounding-conservative (center never below, min +5.3 mm; box1 0.00%); home bracket now 137/157 mm up (was 60/40 down); reset strikes 0/100; settle determinism + banked-spawn oracles green (7/7 EGL); physics tick 1.5 ms. REPLAY CONTROL LOSS RE-RUN: pinned L 0.0831 -> 0.0751 vs floor 0.0701 (gap over floor -62%, exactly the counterfactual - the real-side bracket adds no new interference on the 26 reference episodes); arm MAE 1.88 -> 1.50 deg. PHYSICS RE-BASELINE BOUNDARY: banked sim rows = pre-flip physics; rows from this commit on = flipped-mount physics; fold into the v3-rerun re-baseline. Known residual: body inertia still compiled with the 12 g mount on the old side (runtime geom moves don’t recompile inertia).

grpo-on-sim-design-research · cpu

Design research (owner-called 09:23Z 08-12, research-only, no training): GRPO on the sim for our two heads

boundary: CLOSED 11:4xZ 08-12 work session, deliverable landed: design memo posts/2026-08-12-grpo-sim-design-memo.md (for owner review, nothing registered/launched) + papers/grpo-for-vla-heads.md upgraded to deep-read depth (correction recorded: piRL’s main algorithm is PPO+GAE+critic, GRPO is its losing appendix baseline 90.0-vs-96.0 LIBERO; no KL anchor anywhere in piRL). Memo’s named first cheap experiment = GRPO SIGNAL PROBE (rollout-only, no training, no RL code): 4 cells x 15 seeds x K=8 stochastic rollouts on v3 frames (er60k AR T=1.0 / T=1.6; teacher80k + ftrig4k flow fresh-noise draws), deterministic anchors joined from the v3 rerun rows, primary read = within-group std of progress_final_cm + dynamic-sampling survival rate; secondary = competence cost vs anchor + guard-trip rates (hacking price) + AR token entropy; gate <=3 GPU-h parallel-path (<=8 sequential). Decision rule in the memo: no signal -> GRPO parks; AR signal -> SimpleVLA-RL mapping phase 2; flow-only signal -> Flow-GRPO SDE expert-only. Successor item grpo-signal-probe carries the owner hold.

sim-composite-contact-shadows · cpu

Contact-shadow pass for the v3 composites (lit 0823, papers/composite-shadows.md): the pasted sim arm casts no shadow on the real clean plate - the one physics law every real frame obeys that no composite frame does, and an axis…

boundary: Closed 08-13. Open ask: sim100 amendment 5 (default style v3 -> v4) on owner call.

lit-sim-improvement-levers · cpu

Lit slice (owner-called 09:23Z 08-12): sim-improvement levers beyond shipped plates/clutter/sysid - contact shadows for composites, camera-parameter fitting (real lens model vs our equidistant), DR schedules with measured transfe…

boundary: Queued 09:3xZ 08-12. | CLOSED 22:0xZ 08-12 (work session, ridden alongside the live GRPO probe): 3 papers pages landed same session per the permanent rule - papers/composite-shadows.md (ConCent 2606.30268 shadow recipe + ReBot 2503.14526 no-shadow collage + Re3Sim 2502.08645 foreground-realism-null ablation 0.70->0.70 + GreenAug 2407.07868 randomize-vs-match split), papers/fisheye-lens-fitting.md (2603.02139: cubemap->equirect->any-lens MuJoCo pipeline removes the 72-deg source ceiling; scale-overfitting 0.0025->0.60 with RSA; fit the real 130-deg module’s theta->r), papers/dr-schedules.md (DORAEMON 2311.01885 60% vs AutoDR 26.7% real, alpha=0.5; one-scalar curriculum 2505.05753; eval/train firewall). 3 ideas.md hooks into #16 sim lane 0823: composite-contact-shadows (probe-priced ~0.02 GPU-h, gate top AUROC <0.773), fit-real-lens-model, dr-schedule-for-sim-rl (conditional on probe decision rule). Contact shadows + lens fitting are the executable next probes in the sim-visuals lane.

sim-sysid-replay-control-loss · cpu

Replay control-loss probe (graduated from the 0820 deep-read close, SIMPLER’s offline sysid validator - their Table II shows the loss is monotone with eventual ranking fidelity): replay recorded real action sequences from the 26…

boundary: Queued 12:xxZ 08-12 at the 0820 deep-read close. CPU-only, any GPU-busy window. Sequenced at my discretion; natural slot before any sim-training work (GRPO phase 2) or the next sysid-touching change, since it is the missing validator for the servo model everything else rides on. | CLOSED 13:5xZ 08-12 work session (sim/replay_control_loss.py + tests/test_replay_control_loss.py oracles, outputs/sim/replay_control_loss.json banked): pinned SERVO_SYSID L=0.0831 all-26 / 0.0849 held-out-23 vs real-command floor 0.0701 (menagerie 0.0973, upstream 0.0819) - under SIMPLER’s best Table II anchor 0.131 (their MMRV 0.031 band; scale caveat stated). FINDING: joint-MAE win (pinned 1.88 vs upstream 2.74 deg) does NOT carry to EE space - elbow residual 3.78 deg (unmodeled payload, shared by all candidates) dominates via the largest lever arm (4.64 mm/deg at median pose; wrist_roll 0.21). Read is GOOD -> no tuning item queued; per-joint elbow gains stay the named next rung if elbow ever gates. Zero-bias grep: no additive per-joint constants in the sim consume path (deg2rad only) or bijou normalization (per-dataset stats kill inter-rig offsets by design); the lerobot-sim2real +6.8deg class would live rig-side in calibration shared by action AND state - invisible to replay/training, exposed only via sim world-frame geometry (pinned by visual matching instead).

lit-so101-benchmark-envs · cpu

Lit slice (owner-called 09:23Z 08-12, supersedes the lit pause for this thread): benchmark environments near the SO-100/SO-101 embodiment - lerobot-sim2real (ManiSkill3 SO-100), gym-lowcostrobot, LIBERO/SimplerEnv/RoboCasa for pr…

boundary: Slice 0820 page LANDED 09:3xZ 08-12 (papers/so101-sim-ecosystem.md, update to the 08-11 census). | CLOSED 12:xxZ 08-12 work session: both deep reads DONE - (1) lerobot-sim2real at implementation depth (papers/lerobot-sim2real-recipe.md, NEW page): CORRECTION to the survey - the project has NO sysid (system_id_so100.npy is dead code, PD gains untuned 1e3/1e2, one hardcoded +6.8deg elbow offset); transfer bought by target-integrated delta actions (command stream open-loop identical sim<->real) + per-control-step camera-pose DR (+-2.5cm) + hard-mask greenscreen 128x128 aligned by eye, no quantitative alignment metric; qvel banned from obs (STS3215 too noisy); 91.6% = 22/24 human-judged. (2) SIMPLER spec upgrade (sim-as-eval.md): MMRV formula + repo reference code + hardcoded anchor tables, ~1.5k real episodes total validation bill over 6+3 policy points (early/mid checkpoints manufacture spread), offline-MSE strawman 0.375 vs 0.056, sysid replay control loss MONOTONE with MMRV (Table II), partial visual matching WORSE than none (Table III 0.142 vs complete 0.050 - v3.1-wrist caution). Cube-grasp port RE-SCOPED, does NOT graduate on benchmarking grounds (RL-on-task vs imitation-zero-shot is not a comparison; full port spec recorded in the recipe page as the ready-made GRPO-phase-2 training task). GRADUATED instead: sim-sysid-replay-control-loss (successor queue item, cpu).

molmoact2-ftrig-sim-eval-20 · gpu-local

ftrig molmoact2 sim eval, 20 seeds + videos (OWNER-CALLED 13:16Z/13:36Z 08-12, top prio on GPU release, sequenced directly after sim_parallel_oracle.py as the parallel path’s first consumer - owner: ’sim-parallel-rollouts first a…

boundary: Queued 13:5xZ 08-12 on owner call. AutoEval caution applies (different stack family - sim fidelity claim resets to zero until spot-checked): frame the numbers as exploratory. First molmoact2/molmo_flow rollout through BijouPolicy on sim - expect integration edges; budget one debug cycle. | PRE-STAGED 14:2xZ 08-12: BijouPolicy assembles the checkpoint on CPU (bijou@molmoact2_rig_r1_step2000, chunk 30; one API note - BijouPolicy wants a Path, not str). Command: MUJOCO_GL=egl uv run python -m sim.rollout_sim –checkpoint ~/marius-convert-gate/converted/molmoact2_rig_r1_step2000 –num-seeds 20 –method euler –sample-steps 10 (videos default on; parallel driver swap-in if the oracle is green). | CLOSED 15:0xZ 08-12 same session (sequential driver - oracle failed; one integration fix: rollout_sim stats fallback to the checkpoint’s merged table for per-dataset-less converted checkpoints): 0/20 success, mean progress_final -0.84 cm (median 0.00), 7/20 real approach progress (best +1.3 cm seed 1), 4 knock-aways >=1 cm (worst -9.1 cm seed 4). QUALITATIVE HEADLINE: the arm moves with intent - reaches the boat, jaws adjacent, then misses/shoves (er60k froze on 13/20). Videos + rows on fontaine-reports /molmoact2_ftrig_eval20/. Watching the videos prompted the owner’s bracket question -> see sim-wrist-bracket-flip. · pre-reg

sim-parallel-rollouts · gpu-local

OWNER-SEQUENCED FIRST GPU ITEM (09:32Z 08-12: ‘Once I relinquish the GPU, remember to do sim-parallel-rollouts before any other experiments’)

boundary: Queued 08:5xZ 08-12 (owner yes 08:44Z); RE-SEQUENCED 09:32Z: runs FIRST when the owner releases the GPU, before any other experiment (incl. the rerun). CPU design/scaffold work may start during the reserved window. | SCAFFOLD LANDED 10:1xZ 08-12 (commit 1e4e16f, check.py 710 green): sim/rollout_sim_parallel.py (spawn env-workers + batched parent policy, deterministic lockstep-rounds scheduler, stable-noise identity triple preserved per row), shared run_episode_loop refactor + streaming VideoWriter, 5 CPU-tier harness-equivalence oracles, and the GPU bit-match oracle instrument fontaine/scripts/sim_parallel_oracle.py. PRE-REG POSTED: posts/2026-08-12-prereg-sim-parallel-rollouts.md - frozen decision rule (GREEN at 2 AND 8 workers on er60k seeds 0-5 => parallel path may produce registered numbers at validated settings; FAIL => paired-only fallback with per-use amendment, no mixing with banked sequential rows) + record-only 20-seed throughput read, gate <= 1 GPU-h total. REMAINING = the GPU leg only: run sim_parallel_oracle.py on release (FIRST item per owner 09:32Z), results post same session. | GPU LEG CLOSED 14:37Z 08-12 (owner released 14:17Z, oracle ridden in-session): FAIL at workers=2 - 3/6 seeds bit-identical, 3/6 diverge macroscopically (final_cm off 5.8/7.4/0.8 cm; spawn/reset/strike fields ALL matched, so env determinism held and the divergence is the batched bf16 decode, amplified by contact physics). Frozen rule applied: sequential stays the registered path; parallel = paired-only with per-use amendment, no mixing with banked rows. workers=8 leg skipped (gate decided at 2). Throughput datum: 1.73x at 2 workers (8.8 -> 5.1 min / 6 episodes). Diffs banked outputs/sim/parallel_oracle/. Named follow-ups (not queued): fp32-expert retry, registered tolerance. · pre-reg

sim-disk-position-prereg-draft · cpu

Disk-position draws pre-reg draft (the (c) leg the content-diversity item scoped out as task semantics): draw the disk’s world xy per SPAWN seed (not appearance - success geometry moves with it) from the measured real between-epi…

boundary: Queued 07:2xZ 08-12 at the content-diversity close. Executable now (pure drafting); pends nothing. Sequencing: after sim100-v2-rerun-amendment-draft if the owner unholds the rerun first. | DONE 11:0xZ 08-12: DRAFT pre-reg posted (posts/2026-08-12-prereg-disk-position-draws.md) - six registered decisions: ABSOLUTE draws from the measured box (frame alignment trusted on the mouse precedent; the pinned (0.22,0.11) sits OUTSIDE the measured y range - new finding), success/metrics follow via disk_center update, spawn goes DISK-RELATIVE (current box re-expressed as deltas, ~9.5 cm task 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 pairing survives fully), spawn-stream discipline keeps it style-orthogonal with a disk_draws=False bit-identity guard. Grounding-probe diagnostic registered (tracker vs memorizer slope). Sequenced AFTER the v3 rerun to avoid confounding. Implementation (6 oracles + sweep) = follow-up CPU item on owner sign-off. · pre-reg

sim100-v2-rerun-amendment-draft · cpu

sim100 v2-rerun pre-reg AMENDMENT draft (CPU only, no launch): the rerun item’s own protocol requires a short amendment before launch (new arm names for v2 visuals, re-baseline) - draft it now so the eval is launch-ready the mome…

boundary: Queued 06:2xZ 08-12 at the wrist-periphery close. Executable now (pure CPU writing); pends nothing. Its EXECUTION twin (the eval itself) remains sim100-v1-rerun, owner_hold. | DONE 10:2xZ 08-12: DRAFT amendment posted (posts/2026-08-12-prereg-amendment-sim100-v3-rerun.md) - inherits sim100 protocol, changes frames (v3 re-baseline table incl. GPU-path probe numbers), arm set (teacher80k ADDED post-spot20 as the confirmatory read, snap30k dropped double-null, rungs stay dead - all flagged as owner decision points), primary read (paired v3-v0 per-seed at n=100, the spot20 instrument), registered priors per arm, disk stays pinned for pairing, execution contingent on the sim-parallel-oracle outcome (Path A ~2-3 GPU-h / Path B <=10 GPU-h gate). Finalization checklist runs at owner unhold; the eval twin sim100-v1-rerun remains owner_hold. · pre-reg

sim-content-diversity · cpu

Sim content diversity v3 (the axis every read since the OOD probe names: sim is ~4% k std/mean vs real 45%, and neither lighting jitter (v1) nor a fixed real background (v2) moved it): per-reset CONTENT variation for the composit…

boundary: CLOSED 07:2xZ 08-12: 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 1.02x - top composites inside the real spread, best top read yet). Wrist guard bit-identical GREEN (0.548). render_style=‘v3’ shipped, default STAYS v2 per the registered flip rule; flip is an owner ask (thumbs-up on the results post). Results: posts/2026-08-12-sim-content-diversity-results.md · pre-reg

sim-wrist-periphery-fix · cpu

Wrist-cam periphery re-tune under the v1 fisheye (small, CPU + ~0.04 GPU-h probe reads): the scene pass moved wrist 5-NN AUROC 0.835->0.786 (best read of the whole v1 study - content/pose is what the wrist tracks) but the fisheye…

boundary: Queued 05:0xZ 08-12 at the v1 close (rides the v1 pre-reg’s instrument + axes; wrist was explicitly secondary there). Executable now; independent of the inpainting item. | NOTE 05:4xZ 08-12: the v2 wrist composite read WORSE (0.951) than the v1 wrist path (0.900) - episode-start wrist poses differ by degrees across episodes so the clean plate is mush (coverage 0.36); shipped v2 keeps the v1 wrist path. This item’s bar unchanged (<=0.786 scene-only level); a per-episode-aligned wrist plate is a possible extra axis once the pose/periphery is right. | CLOSED 06:2xZ 08-12 (work session): registered bar SMASHED on the first candidate - wrist 5-NN AUROC 0.900 -> 0.548 vs <=0.786 (k-ratio 0.97x: sim wrist now sits INSIDE the real spread; 20x5 sensitivity 0.550, stable). Camera moved from the wrist top behind the gripper (world (0.096,-0.004,0.160), 55deg) to over the jaw base ((0.150,0,0.150), 65deg, same image-right=-y roll): the gripper-body mass that filled the bottom ~40% of frame drops out, leaving jaw tips in the bottom quarter over full-frame table like every real start frame. Guard green: top 0.773 bit-identical (render path untouched). Oracles 10 green (qpos bit-identity across styles + spawn stream vs banked v0), check.py 704 green. Shipped as the _repose_wrist_cam default (all render styles). The per-episode-aligned wrist plate axis named at the v2 close is RETIRED - a composite cannot beat inside-the-real-spread. · pre-reg

sim-visual-inpainting · cpu

Sim visual matching v2 - real-frame INPAINTING (the named lever after v1’s registered miss, SIMPLER-RT recipe): bake actual rig pixels as the static scene instead of approximating materials/optics - per camera, composite the real…

boundary: Queued 05:0xZ 08-12 at the v1 close. Executable now (CPU + ~0.02 GPU-h probe reads); pends nothing. If the owner instead calls the behavioral spot-check on sim100-v1-rerun, run that first - it may show the geometry fixes already changed behavior, re-scoping what inpainting must buy. | CLOSED 05:4xZ 08-12 (work session): registered bar MET - top 5-NN AUROC 0.890 (v0) -> 0.876 (v1) -> 0.773 (v2) vs <=0.790; overfit tripwire clear (>>0.5). A-half clean plates (26 eps, video-frame disjointness from held-out B verified: last plate frame 17066 < first B frame 17100) + segmentation composite; wrist composite regressed (0.951 vs 0.900 - cross-episode mush plate) so shipped render_style=v2 (NEW DEFAULT) keeps the v1 wrist path (pure-composite read reproducible at f75c341). Homogeneity unchanged (~4% vs 45%) - content variation named the diversity lever (successor item queued). Results post 2026-08-12-sim-visual-inpainting-results.md; 3 probe jsons + 2 galleries on fontaine-reports (curl 200). ~0.06 GPU-h (gate 0.3). · pre-reg

sim100-v1-rerun · gpu-local

100-seed eval v1 rung (successor, pends sim-visual-matching landing): re-run the sim100 protocol (same 100 seeds, same metric/gates, posts/2026-08-11-prereg-sim-policy-eval-100seeds.md conventions) on the v1 matched visuals for e…

boundary: Queued 03:4xZ 08-12 at the OOD-probe close. Executable only after sim-visual-matching lands its so101_sim.py visual deltas; the probe re-read (~0.02 GPU-h) is the cheap go/no-go gate before the ~2-4 GPU-h eval. | GATE READ 05:0xZ 08-12: probe re-read MISSED the bar (top 5-NN 0.876 vs <=0.790 target) => by the registered gate the 2-4 GPU-h rerun does NOT auto-launch. OWNER DECISION OFFERED in the results post: the probe measures encoder separability, not policy behavior - the fisheye+wrist-repose geometry fixes change where things appear in the image, and er60k’s reach-over-the-table fingerprint is exactly a pinhole-vs-fisheye spatial-mismatch signature; a 20-seed er60k spot-check (~0.5 GPU-h) would answer it cheaply. HOLDING for owner call: spot-check / full rerun / park behind inpainting. | GATE RE-READ 05:4xZ 08-12: v2 inpainting MET the registered line (top 5-NN 0.773 <= 0.790) => by the item’s own registered criterion the rerun is now GO with v2 frames (render_style=v2 default; wrist rides the v1 path inside v2). Still owner_hold: the 20-seed behavioral spot-check ask (05:01Z) is unanswered and remains the cheaper first step; on unhold, the short pre-reg amendment renames arms to v2 visuals and re-baselines. | GATE RE-READ 06:2xZ 08-12: sim-wrist-periphery-fix closed - wrist 5-NN 0.900 -> 0.548 (inside the real spread), top stays 0.773. BOTH cameras now read at-or-under their registered lines; the rerun gate is GO with v2 frames + re-tuned wrist pose. Still owner_hold: spot-check ask (05:01Z) unanswered. UPDATE 07:3xZ 08-12: owner approved the v2->v3 default flip (07:29Z); gate facts with v3 frames: top 0.673 + wrist 0.548, both under their registered lines. Still owner_hold on the rerun-vs-spot-check call itself. UPDATE 09:1xZ 08-12: spot20 DONE (owner-called) - teacher80k +0.97 cm paired CI-excludes-zero under v3 (direction flipped toward the disk), er60k/snap30k null; behavioral response to visuals CONFIRMED for the engaging arm. Rerun still owner_hold but now both gate legs (visual + behavioral) argue GO; ~6-9 h wall at GPU-compositor pace, ~20-30 min/arm if sim-parallel-rollouts lands first. | AMENDMENT DRAFTED 10:2xZ 08-12: posts/2026-08-12-prereg-amendment-sim100-v3-rerun.md (DRAFT) - launch-ready on unhold after the finalization checklist (arm-set owner call, HEAD/asset re-pin, param sheet + objection window). || DELEGATION TRIAGE 13:3xZ 08-18 (owner-pending-decisions-digest, under the 10:25Z no-go-asks delegation): CLOSED superseded-by-outcomes, decided by Fontaine (announced in-channel) — the owner goal this item chased (>=1 success on the 100 seeds) is answered: grasp-SFT joint-2k reads 44/100 unseen on the same seed set under v3 visuals (08-16), and the diagnostic rerun of er60k/ftrig4k no longer changes any next decision (startup-velocity). The drafted v3 amendment stays on file if the diagnostic becomes decision-relevant again. ~2-4 GPU-h saved. · pre-reg

sim-visual-matching · cpu

Sim visual matching (CPU + render minutes, SIMPLER’s second lever after controller sysid): close the sim-vs-rig APPEARANCE gap for the two policy cameras - compare sim renders vs real rig frames (so-frame REAL|SIM|OVERLAY per the…

boundary: Queued 20:3xZ 08-11 at sim-servo-sysid close. Explicitly OPTIONAL before the 100-seed eval (visual gap affects policy inputs, not physics); if the eval’s free validation arm shows sim ordering matching the banked panel trajectory, this may stay a v1 rung. | UPDATE 03:4xZ 08-12: now THE named lever after sim100 close (0/500; direction tracks visual familiarity — see sim-policy-eval-100seeds close). Promised in-channel 01:30Z: one pre-reg combining the encoder-OOD-probe baseline + visual matching v1 (real top-cam background/table baked as scene textures, boat+disk color match, camera pose match; then a 20-seed texture-sensitivity read). Owner goal: >=1 success on the 100 seeds. | BASELINE MEASURED 03:4xZ 08-12 (encoder OOD probe closed): the pre-reg’s success read is pinned — move top-cam 5-NN AUROC 0.885 toward 0.5 (wrist 0.828), k(sim) 1.87e-5 toward the real 1.22e-5; probe rerun is cheap (~0.02 GPU-h, same pinned frames/scripts) so it is the per-iteration read for matching work. Probe also says: prioritize top-cam scene matching (pose/background/table) AND render diversity (sim distances 7x too homogeneous — lighting jitter belongs in the recipe). | CLOSED 05:0xZ 08-12 work session: pre-reg posted+in-channel first, then all named axes landed as render_style=‘v1’ (default): real-frame table texture rebuild (plank direction/scale/contrast matched), real clutter layout, wrist-cam re-pose (menagerie cam had the moving jaw MIRRORED + stared into the gripper body), 72deg-source center-matched equidistant fisheye (real plank bowing reproduced), fixed AWB color grade, sensor blur/noise (labeled amendment), per-reset appearance jitter from a dedicated RNG stream; physics oracle-pinned (tests/test_sim_appearance.py 5 green: qpos bit-identical across appearance seeds/render styles, spawn stream bit-matches banked sim100 v0). REGISTERED BAR MISSED: top 5-NN AUROC 0.890 (v0-render baseline, tripwire vs banked tick-0 0.887 passed) -> best 0.874 / final 0.876 vs bar <=0.790; wrist responded to content (0.835->0.786 scene-only) then regressed under fisheye+grade (0.900); sensitivity 20x5: appearance draws move per-seed k ~3%, sim stays ~10x too homogeneous. THE FINDING: scene layout, lens geometry and color statistics are NOT the encoder’s discriminator - named next lever real-frame inpainting (SIMPLER-RT). 6 probe jsons + 2 before/after composites on fontaine-reports (curl 200), results post + reports.md section. ~0.12/0.5 GPU-h gate. · pre-reg

sim-encoder-ood-probe · gpu-local

Encoder OOD probe (OWNER ASK 01:11Z 08-12 ‘figuring out if that’s really the issue’, answered 01:30Z with this design): quantify the sim-vs-real visual gap at the policy’s own eyes

boundary: CLOSED 03:4xZ 08-12 work session, end-to-end in-session (~0.02 GPU-h foreground): launch note (pinned frames + distance def) in-channel pre-GPU; script fontaine/scripts/sim_encoder_ood_probe.py (er_60k eval-mount vision trunk, max_crops=1, fp32 mean-pooled L2-normalized tokens; 300 sim er60k-arm frames ticks {0,300,600} + 300 real v2 strided A/B-split + 100 clean anchor, per camera). MEASURED GAP, top-cam-heavier: centroid AUROC (registered primary) top 0.802 / wrist 0.707; 5-NN secondary (labeled post-hoc; raw cosines ride a dominant constant direction, all distances ~1e-5 residuals) top 0.885 ratio 1.54x / wrist 0.828 ratio 1.33x; clean control INSIDE the real spread (AUROC 0.26/0.28) = shift is sim-specific. Sim at the EDGE of the real manifold, not off it; sim distances ~7x tighter std than real (renders too homogeneous — lighting/blur/hands diversity is part of the gap); per-tick flat = scene not poses. Deviation logged: real stride 114 not 108 (containers 34,332 frames vs meta 32,679). AUROC oracle tests/test_sim_encoder_ood_probe.py (5 green). Artifacts: analysis json + strip chart on fontaine-reports (curl 200 x2), reports.md section, numbers + chart in-channel 03:4xZ. BASELINE FOR THE LEVER: top 5-NN AUROC 0.885 -> ~0.5, k(sim) 1.87e-5 -> 1.22e-5 (real level). · pre-reg

sim-servo-sysid · cpu

Servo/controller sysid (CPU + minutes of local GPU-free sim): resolve the 56x kp discrepancy (our menagerie robotstudio_so101 kp=998.22 kv=2.731 forcerange ±2.94 vs TheRobotStudio upstream kp=17.8 kv=0 ±3.35 for the same STS3215)…

boundary: CLOSED 20:3xZ 08-11 work session (post posts/2026-08-11-sim-servo-sysid.md): 56x kp question ANSWERED by open-loop replay sysid (sim/sysid_servo.py, SIMPLER recipe) - held-out-episode arm replay MAE menagerie 3.31 deg / upstream 2.80 / FITTED 1.76 (-47%), beats the 2.19-deg teleport-servo scale so the lag dynamics are genuinely modeled; vendored kp 998 + forcerange 2.94 saturates at 0.17 deg = bang-bang servo, measured sagging ~19 deg below a commanded plateau the real arm holds; upstream directionally right, neither exact. Fitted set PINNED as so101_sim.SERVO_SYSID (kp 108.18 kv 13.377 fr 3.478 damping 0.722 friction 0.0183 armature 0.2045 - the large armature reads as reflected gear-train inertia), applied at load to both arms, vendored XML untouched; sysid_servo.json banked. ALL sim-fixes gates re-verified under new params: 0/100 strikes, settled state bit-identical across seeds, drift 0.001mm/10s, pinch-lift HELD spin 0.1 deg (improved from 0.4), determinism green, 28.0 ms/tick. Known residual: elbow_flex 3.89 deg (unmodeled boat payload); per-joint gains the named next rung if elbow ever gates. Fit deps-free coordinate descent, ~240 evals/start.

sim-fixes-reset-contact · cpu

Sim fixes, batch 1 (CPU, from sim-review findings 1-4 + the contact-fidelity fix list papers/sim-contact-fidelity.md): (1) home pose reachable (fix camera_box2 mount collision vs shoulder) + spawn-after-settle so reset never stri…

boundary: CLOSED 19:1xZ 08-11 work session (all 3 legs + gates green, results post posts/2026-08-11-sim-fixes-batch1.md): (1) START STATE - three layers, not one: camera_box2<->shoulder exclude (0.46mm wedge) + wrist<->shoulder exclude (0.87mm, same class) + shoulder_lift/elbow_flex ranges widened at load (menagerie +-100/+-96.8 could not REPRESENT the rig median start -102.7/97.0); wrist_roll bimodality gone, settled state seed-independent <0.003 deg across seeds; elbow 6.6 deg residual = jaw tip physically resting on table (reachable projection per the review; NOT excluded - real physics); reset() reworked spawn-after-settle w/ public reset_strike_contacts counter, probe reads API not a hand-replica; second strike channel found+fixed (jaw tips at x=0.155 sat INSIDE the old spawn region - near bound 0.17->0.195, design target preserved: mean initial distance 9.5cm range 7.1-12.1 over seeds 0-99); 0/100 strikes, max displacement 0.7mm. (2) JAW SEAM - priority=2 on generated benchy geoms (NOT the queued <contact><pair>: menagerie’s actual jaw contact meshes are UNNAMED so pairs would miss them; priority is the same documented wholesale-friction override); elliptic+impratio10+Newton verified already present; in-grip spin 6.9->0.4 deg, tilt 0.84->0.91, pen 2.2mm, firm hold. (3) COACD threshold-driven (0.015, uncapped, pr 100): 340 hulls, volume 1.75x->1.13x, phantom p99 3.78->0.45mm max 5.39->0.69mm; SDF not needed (26.7ms/tick unchanged). REGRESSION FOUND+FIXED: rest drift came back 6.2mm/10s with the fine decomposition - NOT friction/damping (damping made it WORSE 76mm); root cause vendored solver caps iterations=10/ls_iterations=20 under-converge 30-80 simultaneous keel-table contacts; scene now sets 50/50, drift 0.001mm at zero cost. Gates: all probes improved, bit-determinism green, 26.7ms/tick (<30 gate). check.py 688 green. Servo sysid deliberately NOT touched (own item, next).

er60k-init-delta-midrun-chart-0810 · cpu

er_60k ER-init-delta mid-run chart (CPU, zero GPU-h): once the probe ladder has ~10 points (step >= 5000, ~02:0xZ 08-10), chart eval_chunk_mae vs the 40k run’s curve at matched steps (seed 0 shared per the owner’s 22:51Z seed pol…

boundary: opens at er_60k step 5000 (~02:0xZ 08-10); any CPU window after that; superseded by the endpoint readout ~08-11 ~12:00Z if unexecuted · pre-reg

adamc-postmortem-chart-0809 · cpu

AdamC-100k post-mortem chart + short post (CPU, zero GPU-h; the queued item now.md promised 22:4xZ but never landed in queue.json

boundary: DONE 23:3xZ 08-09 same work session that queued it: chart script fontaine/scripts/adamc_postmortem_chart.py (2-panel matched-steps + matched-samples, eval-report dark theme) + post posts/2026-08-09-adamc-postmortem.md (three matched views: 10.80 vs 7.17 @10k steps; run-best 10.30 vs ~8.6 samples-matched; 35.7 GPU-h vs 31.6-for-7.09 compute-matched; loss near-parity 3.74 vs 3.44 = gap lives in the held-out probe; explicit 3-confound caveat, no AdamC verdict; lr_backbone artifact annotated w/ f112f08). SUMMARY wired, Space pushed, page+svg curl-200, in-channel link posted. VERIFICATION WIN en route: the log’s lr_backbone=1e-4 trace investigated before writing — confirmed the known owner-caught logging artifact (training groups always 2e-5), so the post carries the annotation instead of a false misconfiguration claim.

er-60k-live · gpu-box

OWNER RUN LIVE (launched 22:47-53Z 08-09, unit fontaine-er-60k): fontaine_molmo2_er_60k_ddp4

boundary: CLOSED (status audit 16:2xZ 08-11: run actually finished 08-11 — train @60000 12:36Z, chained panel_v2 rc=0 13:28Z, ~153/155 GPU-h; decision read = ER init WINS both legs, er_60k/step_060000 = new reference trunk, weights banked to fontaine-checkpoints 4ed3dd0; the 10:00-13:5xZ session closed the run but left this item status=live — fixed this session). Durable long-form: posts/2026-08-11-er-init-screen-results.md. · pre-reg

owner-er60k-run-prep-0809 · cpu

OWNER STEERING 22:14:00Z 08-09: proposed 60k training run init from allenai/Molmo2-ER (MolmoAct2’s embodied-specialized Molmo2-4B, released) with params matched to our molmo2 AR 40k recipe, 60k steps, owner rig datasets mixed in…

boundary: opens on owner reply (go + rig dataset pointers); param sheet ~30 min after; launch only on owner approval of the sheet | CLOSED 22:5xZ 08-09: all owner inputs landed (go 22:36Z, rig ids 22:40Z, sheet approved verbatim 22:45Z uniform sampling, seed override 22:46Z) -> launched 22:47-53Z unit fontaine-er-60k seed 0. Live-run tracking moved to er-60k-live + babysit er_60k entry.

lit-radar-0822 · cpu

Lit slice (standing allocation): 4 priority hooks from the 0821 refill sweep (18 candidates checked, 15 abs-page-verified, 12 grep-clean – 3 dups all already-deep-read papers, sweep converging), priority-ordered: 2606.12365 Ambi…

boundary: CLOSED 2026-08-10 00:5xZ work session AS THE FINAL SLICE BEFORE THE OWNER PAUSE (owner 00:23:47Z “Can we pause the lit slices for now” landed mid-flight at the 00:27Z babysit poll; acknowledged in-channel 00:28Z, pages landed quietly, NO summary post, NO 0823 queued): 4 Papers pages via 4-agent fan-out — ambient-diffusion-policy.md (flow-time band-mask lever, rectified-flow port via sigma-space mapping, +33% hook corrected to tower height, partition user-supplied -> composes with QoQ; zero-GPU PSD/sigma_tmin first arm sketched), what-curation-metrics-do.md (0.804 AUROC -> 13.3% policy dissociation CONFIRMED but one-cell; episode-length confound + truncation control -> rank-by-length null arm fed to #9), auditing-curation-metrics.md (action-only scorers chance on wrong-action defects; entropy/ensemble actively inverted; state-rescue = object pose NOT proprio, ablation never run — their released testbed settles it), phail.md (KM/RMST/macro-KS+clustered-bootstrap resolves 2/3 close pairs at 25-30 episodes/cell; human anchor ZERO statistical power; 22pp spatial-nuisance warning; >=50 trials stays the budget, KS-on-CDFs adopted as analysis). Ideas #9/#16/#15 wired. SPARES (8 abs-verified) + EXTRA HOOKS + the 0823 sweep-planning note remain in this item title for whenever the pause lifts.

lit-radar-0821 · cpu

Lit slice (standing allocation): 4 priority hooks from the 0820 refill sweep (16 candidates abs-page-verified by the sweep agent, 12/16 grep-clean

boundary: CLOSED 2026-08-10 00:1x-00:3xZ work session via 5-agent fan-out: 4 Papers pages landed SAME session per the permanent rule – quality-over-quantity.md (offline influence pole, runnable no-rollout vs ATHENA/Qwen; gains only on 40-50% injected failures, hard top-N not weighting, no code; cheapest #9 arm sketched: ~20 verified-clean anchor episodes + action-head-only gradient scoring pass + paired top-70%-vs-random arm), curse-of-precision.md (log N prop 1/(P-c) is a sim-only R2>0.97 FIT with 23-65x extrapolated points; ‘sensor+expert not task’ hook corrected – randomization ablation moved c 2.35->1.00mm; c = rollout-sweep fit = rig-phase instrument; #16 tolerance-dial + delta-c design rule; #9 clarity-filter lever: aggressive 50%-SR expert c=1.27 vs cautious 2.35), neuralactuator.md (cost floor broken: third platform IS the SO-101, force MAE 0.47-0.73N from Feetech load registers, no current sensor, torque via diffsim; ‘torque-from-current’ hook wrong twice at our class; MIT code + NAD dataset + 3 SO-101 checkpoints + teleop code ALL verified live; #16 rig-day rider superseded shovel-ready 46-column schema; #9 dq_d gate stands as banked), gigaworld-wmbench.md (324K ‘rollouts’ are human-graded WM VIDEOS under replayed actions, no policy drives, real-ranking corr defined never computed; action-faithfulness>realism measured but partly definitional; hook missed the Apache-2.0 release Nano 1.3B/Pro 5B + 87.8%-agreement VLM judge; Ctrl-World artifact verified live too -> rollout-free-eval ‘no artifact’ half dead, ‘costs real rollouts’ half stands; zero-rollout replay screen banked for #16). Ideas #9/#16 pages + index hooks fed. Radar 0821 table flipped; 0822 queued from the sweep (18 checked, 15 abs-verified, 12 survived, 3 dups all already-read).

lit-radar-0820 · cpu

Lit slice (standing allocation): 4 priority hooks from the 0819 fresh sweep (16 candidates abs-page-verified, 14/16 grep-clean; executor still greps full corpus per id before writing), priority-ordered: rollout-free eval CLUSTER…

boundary: CLOSED 2026-08-10 00:0xZ work session (23:27-): 4 Papers pages via 5-agent fan-out, all landed + wired SAME session per the permanent rule: rollout-free-eval.md (RoboWorld 2607.01060 + PolaRiS 2512.16881 cluster — both hooks survived their numbers but grew teeth: RoboWorld r=0.989 is n=8 with NO artifact and an unvalidated GPT-4o judge; PolaRiS r=0.9/24-points is the stronger certificate, MIT code live, but per-checkpoint co-training is load-bearing and calibration is DROID-only; every rollout-free certificate was bought with real rollouts; PolaRiS independently replicates our offline-validation read; rig-day scan rider fed to #16); factr2-torque-estimation.md (3 hook corrections: ‘no force sensor’ hides a load-bearing 100 Hz current sensor, +17% bundles torque-as-observation with re-sampling and sampling-only is never ablated, code unreleased; transfer find: the load-bearing input dq_d = action - state is free in our corpus -> zero-GPU contact-segmentation gate fed to #9, rig-day 10-min protocol to #16); is-diversity-all-you-need.md (‘expert diversity hurts’ was NEVER operator-ablated — evidence is the velocity-debias gain +15% ~ 2.5x data on a DIFFUSION action expert, so flow-head immunity is exactly what their setup contradicts; recipe unreleased; velocity spread flagged as a chunk-MAE eval confound; speed-census -> panel-correlation -> normalization-arm chain fed to #9; rig-relevance-filtering warning; Bridge V2 pilot demoted); human-to-robot-transfer-emergence.md (pi0.5+ego: human video ~doubles generalization ONLY atop diverse robot pretraining, base-VLM init pays ~zero = our measured no-transfer corner; ‘threshold’ partly our compression, no absolute units; angle-A spares CLAP/Motus/LingBot GATED OFF with a written reopening condition; er_60k rationale strengthened, fed #17). Ideas #9/#16/#17 pages + index hooks fed; papers index rows + Radar 0820 flips landed. Refill sweep ran in the same fan-out: 16 candidates abs-verified, 12 survived the corpus grep (the 4 casualties were all papers we had ALREADY deep-read: MolmoAct2, ArmnetBench, CI-MSE, Compression Gap — the sweep is converging on our reading list) -> lit-radar-0821 queued (4 priority hooks + 8 spares).

owner-molmoact2-deep-dive-0809 · cpu

OWNER STEERING 20:49:36Z 08-09: ’Woah, there’s already a molmo2 VLA – https://github.com/allenai/molmoact2

boundary: CLOSED 2026-08-09T21:4xZ same session: deep-dive post posts/2026-08-09-molmoact2-deep-dive.md shipped via 4-track fan-out (paper 51pp PDF + repo/configs + HF cards + AI2 blog/LeRobot docs/community sweep). Headlines for us: backbone IS Molmo2 (-> Molmo2-ER, +6.0 LIBERO-Long from ER-ization alone, released = cheapest trunk arm ever priced, fed #17); 621M per-layer-KV flow expert (capacity anchor for tonight’s Delta_capacity read; KV-vs-hidden +1.9); finetune ablation expert-only 93.05 vs full-FT 97.20 = strongest joint-pole vote, insulation-at-finetune a wash (fed #4, predicts fjoint > F2); SO100_101 checkpoint zero-shot path official in LeRobot v0.6 (12.1 GiB bf16, joint-remap gotcha), expert-only FT 16.5 GiB = single-GPU; repo_list.json manifest mechanizes the survey’s corpus-delta (fed #9). Independent-signal dryness flagged. In-channel link posted. Follow-up arms (ER-swap, corpus intersection, rig zero-shot) owner-decision, NOT queued.

lit-radar-0819 · cpu

Lit slice (standing allocation): 4 priority hooks from the 0818 fresh sweep (16 candidates abs-page-verified; only 2 corpus dups by local grep - the new-angles mandate fixed the pool; executor still greps full corpus per id befor…

boundary: CLOSED 2026-08-09 ~22:3xZ work session: 4 Papers pages via 5-agent fan-out same session (squint.md, action-space-design.md, so101-vla-benchmark.md, cl-triangle.md). Headlines: Squint = the rollout-substrate blocker mechanically GONE (MIT SO-101 twin in ManiSkill3, verified installable, 96.1->91.3% ranking-preserving sim2real; caveat far-OOD visual world -> relative screens first; correction: vendored not upstreamed); Action-space = first hook to STRENGTHEN on contact (code+data verified; chunk-wise delta-joint beats our absolute cell +8.4pp in our exact policy class -> NEW idea #23 + offline<->rollout inversion warning); SO-101 bench = 320 rollouts n=20/cell, leaky multi-label taxonomy, prize = 16 unlisted rollout_* datasets (unlabeled, needs 2-3h self-label pass); CL triangle = contradiction dissolves in tables, zero-replay FT always forgets, replay rho 0.02-0.2 @ 20% batches suffices (real-robot 3B full-FT proof) -> #17 unfreeze price list + #4 drift instrument + #16 rig-phase pre-reg clause. Ideas #4/#5/#6/#16/#17/#22 fed + idea #23 opened. Refill sweep: 4 new angles, 16 abs-verified, only 2/16 dups (both already deep-read) -> lit-radar-0820 queued w/ 4 priority hooks + 10 spares. INTERRUPTED-BY-STEERING note: owner 22:14Z ER-60k question answered mid-session (see owner-er60k-run-prep-0809).

lit-radar-0818 · cpu

Lit slice (standing allocation): 4 verified-clean hooks from the 0817 session’s refill sweep (16 candidates abs-page-verified by the sweep agent; 12 dropped as corpus dups by local grep vs papers/+ideas/+ideas.md - the sweep pool…

boundary: any GPU-busy window; adamc rides to ~08-12 so windows are plentiful | CLOSED 2026-08-09 ~22:0xZ work session: 4 hooks -> 4 Papers pages same session (athena.md, probeact.md, qwen-robotmanip.md, plasticity-at-scale.md) via 5-agent fan-out (4 deep reads + fresh sweep concurrent). Hook corrections, all four again: ATHENA is rollout-anchored (R in {1,-1} over eval rollouts - NOT offline curation), corpora tiny (9.34h sim/6.90h real), code link dead, ‘45.0-point improvement’ = +0.90pp x 50 tasks; real signal = heuristic length-Oracle BELOW random on real tasks + cross-model transfer licenses proxy scoring -> #9 parked ‘offline-ATHENA’ design note. ProbeAct hook wrong on BOTH clauses: probe = 3D position regressor trained on 50k sim-oracle labels (not failure probe), detection = hand-coded kinematic state machine, ZERO detection metrics in the paper, AR-only sim-only no code; survives: trunk decodes position R2=0.968 while flow cells probe below coin-flip elsewhere -> #6 gate gains a trunk-tap arm (spatial pooling + shallow-mid sweep). Qwen-RobotManip 38,100h is ~65% re-rendered human video (24,808h synth from 1,933h egocentric; ~7,800h real teleop = ~34x us not 166x), nothing released (‘no plan to release’ verbatim); survives: 5-stage offline state-action filter (81% of RoboMIND-UR excluded as broken proprioception) -> #9 cheapest arm = DA+jerk pass over 229h; #17 fourth attachment pole (cross-attn alternating vis/lang, 1:40 ratio) + benchmark-saturation seconds VLM4VLA. Plasticity-at-scale: WD clause of the hook was a CITATION of 2602.11137 (already read - hook laundered our own corpus back at us; groups distinct, scale claim independent), WD fixed 0.1 throughout, largest measured 314M, no grad-norm analysis -> record-only for adamc; durable export = health proxies (dormant/norms/entropy) all FAIL to track onset, behavioral fixed-budget probes only. Ideas fed: #6 #9 #17 + index hooks. Refill: fresh sweep with the 4 mandated new angles -> 16 candidates abs-verified, only 2 corpus dups (14 clean - new angles fixed the pool-drying problem) -> lit-radar-0819 queued with 4 priority hooks + 8 spares.

lit-radar-0817 · cpu

Lit slice (standing allocation): refill hooks banked in the 0816 session’s fresh sweep, all ids abs-page-verified by the sweep agent + dup-checked against papers/ + ideas/ + queue (2 dup catches dropped: 2607.23777 = Muon-SW alre…

boundary: any GPU-busy window; adamc rides to ~08-12 so windows are plentiful | CLOSED 2026-08-09 ~21:3xZ work session: 5 hooks -> 4 Papers pages same session (armnetbench.md, safecast.md, reflex.md, legato.md, compression-gap.md; MolmoAct2 slot satisfied by the 08-09 owner deep-dive post). Hook corrections, three loud: ArmnetBench ‘3,118 human-labeled’ = 2,518 human-scored rollouts + 600 unscored demos, and the claimed 84 task-policy checkpoints are NOT on the Hub (blocks the #9 calibration study -> watch item); SAFECAST is NOT offline (contrast sets need closed-loop re-executions + hundreds of labeled rollouts incl. real failures) and its flow-policy cells land below coin-flip in its own alpha-marginalized metric (0.45 sim/0.38 real vs OpenVLA 0.80) -> #6 cheapest-next-step sharpened into a go/no-go separability gate on the probe family; Legato ‘~10% smoother’ wrong both directions (NSPARC ~flat; real headline completion time -19..23% vs RTC matched); Reflex 2.58x is vs a full-recompute strawman (defensible: async split -47..54% reaction latency, stall 100->0; K draws share one trunk prefill -> #19 cost model split); Compression Gap heavily oversold (tiny non-VLA single-seed, mechanism asserted, our AR bit budget ~22x the bound). Ideas fed: #6 #9 #16 #19 #22. Refill sweep -> lit-radar-0818: 16 candidates verified, 12 were CORPUS DUPS caught only by local grep (sweep-agent exclusion list insufficient - pool drying; instrument note logged in the 0818 item).

lit-radar-0816 · cpu

Lit slice (standing allocation): refill hooks banked in the 0815 session’s fresh sweep, all ids VERIFIED against abs pages + dup-checked against papers/ + ideas/ + queue (21 checked clean, 10 discarded as covered), priority-order…

boundary: CLOSED 2026-08-09T21:0xZ work session: all 5 hooks deep-read via 5-subagent fan-out + parallel refill sweep, 5 Papers pages same session (weight-decay-plasticity, learning-while-deploying, fomo-fd, vla-gse, actioncache), ideas #4/#6/#16/#17/#19/#22 + adamc watch fed, index+SUMMARY wired. EVERY hook needed corrections, 3 loud: FoMo-FD ‘no env rollouts’ FALSE (conformal calibration needs ~19 successful deployed-policy rollouts/task; only WM training is rollout-free; ‘FDR’=detection rate not false discovery); ActionCache ‘changes cheap-draws cost model’ WRONG for our stack (head-only speedups, trunk unskippable - keys computed FROM trunk outputs; top-1 retrieval collapses draws; SR not held on GR00T -3.2/LIBERO -5.0; real-SO-101 end-to-end 1.66x); LWD QAM adopted from Li&Levine not theirs + 95% is a mixed human-rubric metric. Softer: WD-plasticity ‘hurts base loss’ only in the overtrained regime + lambda-prop-eta framing unlicensed (our 1e-5 is 4 orders below their range); VLA-GSE ‘zero-shot’ = perturbations-only + insulation is LoRA-grade empirical. Refill sweep dup-catches: 2607.23777 Scale-WD = ALREADY-READ Muon-SW (0813) despite verification, 2606.05468 FlowPRO standalone = covered in hy-embodied-stack.md - both dropped.

lit-radar-0815 · cpu

Lit slice (standing allocation): refill hooks banked in the 0814 session’s fresh sweep, all ids VERIFIED against abs pages + dup-checked against papers/ + ideas/ + queue, priority-ordered

boundary: CLOSED 2026-08-09T19:39:56Z work session: all 5 hooks deep-read via 5-subagent fan-out + parallel refill sweep, 5 Papers pages same session (weight-norm-criticality, weibull-weight-scale, decoupled-action-expert, foresight-failure-detection, redflow; commit c53e517, check 598 green); 3 hook corrections caught (Foresight trains on failure rollouts - NOT the no-rollouts affirmative case; Weibull decomposition is 2-of-3 forces from weights-only; Decoupled Action Expert testbed is Diffusion Policy not VLA, freeze direction inverted); ideas #4/#6/#16/#17 fed; refill -> lit-radar-0816 queued

lit-radar-0814 · cpu

Lit slice (standing allocation): refill hooks banked in the 0813 session’s fresh sweep, dup-checked against papers/ + ideas/ + queue, priority-ordered

boundary: CLOSED 19:2xZ 08-09 work session: all 5 hooks deep-read via parallel-subagent fan-out, 5 Papers pages same session (hyperball-optimization, anytime-pretraining, vla-fail, fpo-flow-policy-optimization, x-tokenizer); ideas #3/#5/#6/#16/#17/#22 fed; 2 hook corrections caught (2602.03702 NOT Defazio; 2606.14752 tokens never executed at inference); refill sweep ran in-session -> lit-radar-0815 queued (5 verified dup-checked hooks + 5 verified spares banked in the item)

lit-radar-0813 · cpu

Lit slice (standing allocation): refill hooks banked 08-09 18:3xZ fresh sweep, dup-checked against papers/ + ideas/, priority-ordered

boundary: CLOSED 2026-08-09T18:59:36Z work session: all 5 hooks deep-read, 5 Papers pages landed same session (muon-sw.md, asyncvla.md, silent-failure-observability.md, sa-vla.md, streamvla.md); ideas #6/#11/#16/#17/#22 + the adamc-watch frame fed (weight-norm plateau signature + alignment-cosine probe banked). Notable: AsyncVLA is NOT async-execution despite the title (filed on #22 so it isn’t re-hooked); SA-VLA measures naive sparse RL NEGATIVE (77.5 vs 81.0 no-RL). Refill sweep ran in-session -> lit-radar-0814 queued (5 dup-checked hooks)

lit-radar-0812b · cpu

Lit slice (standing allocation): refill hooks banked 08-09 18:2xZ fresh sweep, dup-checked against papers/ + ideas/, priority-ordered

boundary: EXECUTED 18:27-18:3xZ 08-09 work session (commit 7e78c9d): all 5 banked hooks deep-read, 5 papers pages landed same session (vla-corrector / pi-stepnft / dfm-vla / onewm-vla-one-token / hif-vla); ideas #1/#5/#6/#11/#16/#17/#22 fed; refill sweep ran -> lit-radar-0813 queued (5 dup-checked hooks; 2605.08168 candidate caught as already covered)

lit-radar-0811 · cpu

Lit slice (standing allocation): banked radar hooks from the 0810 fresh sweep, priority-ordered

boundary: CLOSED 18:2xZ 08-09 (work session, adamc_100k shadow window)

lit-radar-fresh-sweep-0810 · cpu

Lit slice (standing allocation): FRESH arXiv sweep for new hooks

boundary: EXECUTED 08-09 work session 17:42-17:50Z (recovered by tick)

owner-ticket-v2all-selection-0809 · gpu-local

OWNER STEERING 15:44Z 08-09: best 1-NFE ticket over the ENTIRE so101_pick_place_v2 (training rows included)

boundary: CLOSED 16:4xZ 08-09 same-session as the landing (chained work session per the 16:10 tick handoff); ~1.0 GPU-h local (55-min eval + 53 s CPU selection) · pre-reg

corpus-continuity-screen · cpu

#9 corpus kinematic-continuity screen (CPU, record-only, VISTA hook 08-09 papers/vista-umi-validation.md

boundary: CLOSED 17:1xZ 08-09 at zero GPU; reads banked reports/analysis__corpus_continuity_screen.json (+ .max_ratios.npy sidecar)

lit-radar-hooks-0812a · cpu

Lit slice (standing allocation): fresh-sweep hooks banked 08-09 14:4xZ, unread skim-class

boundary: CLEARED 15:5xZ 08-09 — all pages same-session per the permanent rule

boundary-incompat-read-npz · cpu

#1/#22 boundary-incompatibility CPU read (record-only, SDN-read precedent

boundary: CLOSED 15:2xZ 08-09 zero GPU; #22/#1 records + SEAM papers page updated same session

adamc-100k-live · gpu-box

OWNER RUN LIVE (launched 13:30Z 08-09): fontaine_molmo2_adamc_100k_ddp4

boundary: endpoint ~08-11/12 (est 1.7-2.1 s/step => 47-58 h from 13:32Z); chained k4l2 panel eval (–report + npz) in-unit; then leaderboard row + grad-norm chart readout | CLOSED 22:40Z 08-09: OWNER KILL (‘not looking great’, GPUs reassigned to ER-60k) at step ~11,840, ~35.7/310 GPU-h. Final probe ladder ended 10.30@11500 = run-best (the 3-rise watch receded). step_010000 kept on box + weights-only upload to fontaine-checkpoints VERIFIED DONE; train_log.jsonl banked box+local. babysit entry pruned 22:4xZ. Post-mortem chart split to adamc-postmortem-chart-0809. · pre-reg

lit-radar-hooks-0811a · cpu

Lit slice (standing allocation): clear the 08-09 second sweep’s banked hooks

boundary: any GPU-busy window; K endpoint chain (~18:3xZ 08-09) outranks it when it opens | EXECUTED 14:3x-14:4xZ 08-09 (adamc_100k shadow): SEAM 2607.04609 deep-read + papers page SAME SESSION (seam-boundary-steering.md) — closed-form lambda(1-t) nudge toward the previous chunk unexecuted tail, +1% cost, jerk -28% success preserved (vs RTC -54%@1.22x, ACT-TE -84% but success -12pts); #22 arm order updated (SEAM ahead of PAINT on cost, PAINT stays the async-robust one); NEW free hook banked = boundary-incompatibility CPU read on banked panel npz (split to boundary-incompat-read-npz). Robot Critics 2606.21572 skim-to-place DONE + compact page (robot-critics-small-stuff.md): trained-critic pole placed and PARKED (needs rollout labels + video model; ceiling reads cap payoff). Fresh sweep hooks banked to lit-radar-hooks-0812a.

lit-radar-hooks-0810b · cpu

Lit slice (standing allocation): Qwen-VLA 2605.30280 deep-read (last unread banked hook

boundary: EXECUTED same session as queued (attach_K window, 12:2x-12:3xZ 08-09)

lit-radar-hooks-0810a · cpu

Lit slice (standing allocation): clear the 08-09 sweep’s banked radar hooks

boundary: EXECUTED same session as queued (attach_K window, 12:2xZ 08-09)

lit-radar-hooks-0809b · cpu

Lit slice (standing allocation): last banked radar hook — QDepth-VLA 2510.14836 (depth aux, #11/#17; cross-read against the Spatial Forcing/VEGA teacher-x-depth grid) + a fresh arXiv sweep for new hooks (the banked backlog is now…

boundary: EXECUTED same session as queued (attach_K window, 12:1x-12:2xZ 08-09)

lit-radar-async-exec · cpu

Lit slice (standing allocation): the async/real-time execution family from the banked radar hooks

boundary: EXECUTED 11:5x-12:1xZ 08-09 (the chained work session run_work_next armed): all three async-family hooks deep-read, ONE cluster papers page SAME SESSION (papers/async-execution-2.md — three orthogonal levers: FASTER 2603.19199 scheduling/TTFA, ABPolicy 2602.23901 B-spline representation, DEFLECT 2605.19294 stale-vs-fresh FM-DPO). #22 arm menu re-ranked (naive-switch measure -> HAS-on-decode NEW rung 2 -> PAINT -> A2C2 -> TT-RTC/DEFLECT; DEFLECT carried at its restart-corrected +1.6-2.3 pp, not the +6.4 headline; d~18 untested by anyone stays loud); #16 TTFA identity + jerk instruments banked; #12 fourth one-step pole (one-step head/many-step tail). Cluster closed EARLY (12:0xZ) so Spatial Forcing 2510.12276 RODE ALONG per the item’s own clause: papers/spatial-forcing.md same session (teacher-x-depth interaction vs VEGA; 3.8x = fewer-steps lever, teacher overhead unreported; #17/#11 hooks updated). RDT2 2602.03310 ALSO rode (the item’s own if-time-allows clause): papers/rdt2-umi-scaling.md same session — production F-shape vote (AR-first + frozen-trunk expert + distill, no joint stage) filed as Delta_seam ledger context; #16 hours-scale premise + beta~0.23; #5 RVQ; #12 second 1-NFE point. QDepth-VLA 2510.14836 rolls to the refill item

lit-radar-hooks-17 · cpu

Lit slice (standing allocation): clear the two unread #17 radar hooks

boundary: EXECUTED same session as queued (attach_K train window)

lit-unfreeze-schedules · cpu

Lit slice (standing allocation, owner steering 2026-08-09 10:38Z): the owner reframed F-vs-K as schedule curves a(t)*AR + b(t)*flow under FIXED COMPUTE

boundary: DONE same session ~11:07Z 08-09, 2 papers pages landed: lpft-two-phase-schedules.md (LP-FT 2202.10054 + NTK 2405.16747 — the f-then-joint rung’s THIRD citation, first with matched frozen control + feature-distortion theorem; compute-Pareto case for the step-function a(t); silent on F-vs-K since K’s stop-grad blocks the distortion channel) + vlm4vla-trunk-ablation.md (2601.03309 — 9-trunk sweep: frozen vision encoder loses uniformly => external prior for #17 thawed arm; VQA->control proxy collapse off-Calvin => trunk swaps priced by panel screens only; NOT compute-matched, caveat loud). index/SUMMARY/ideas #4+#17 hooks updated. Open question fed forward: nobody in the lineage measures the schedule family compute-matched — that comparison is ours if the a>0 region opens.

attach-seam-readout-audit · cpu

#4 Delta_seam readout PRE-AUDIT (CPU, before the ~18:3xZ K endpoint; the audit-queue-items-against-git standing rule applied to tonight’s frozen read): (1) re-run attach_seam_results.py –oracle at HEAD; (2) verify its default st…

boundary: DONE ~11:00Z 08-09 same session it was queued: oracle re-run green at HEAD (all 5 branches); default stems cross-checked against the box (F arm files present under the EXACT expected names; K launcher writes matching names, %06d padding verified at launcher line 150; ar_view stem matches; endpoint 60k k4l2 json already local); dry-run confirms the pre-endpoint abort is the clean ‘arms not rsynced yet?’ branch; 3-step runbook (2 rsyncs + one command) staged into the attach_K babysit anchors. Nothing in the frozen read was touched.

idea6-mcselect-postmortem · cpu

#6 rung-(c) post-mortem read (CPU, record-only, exploratory — NOT pre-registered, no decision rides on it; the selection-ceiling read precedent): from the banked mcselect npz (mcselect:kl [N,C] + mcselect:cand_pred [N,C,S,D]) com…

boundary: READ OUT same session 2026-08-09T10:55:00Z (commit to follow): mcselect_postmortem.py (oracle-gated: planted monotone fixture exact hand arithmetic incl. tie-rank + constant-KL exclusion, 6 abort branches: degenerate <2-eligible row, finite-KL-at-ineligible, NaN-at-eligible, partial dump, missing key, mixed vocab) -> analysis__subgoal_mcselect_postmortem_q4_ar100k_k4l2.json + raw sidecar npz. MAP: KL is rank-NOISE (per-row Spearman(KL,err) +0.012 [-0.005,+0.029]; oracle-best uniform on the axis 0.498 vs 0.5, excess at BOTH extremes -> argmin fails too; harm is magnitude-driven, value-level rho +0.126, winner’s curse); SC was the better axis (-0.030, CI<0, oracle-best at top 30.1% vs 12.6% null) but ~6x too weak for argmax; axes mutually uncorrelated (+0.032) -> family failed twice INDEPENDENTLY. Calibration bar for any learned-verifier pre-reg: zero-training rank signal tops at |rho|~0.03 toward a real -0.250 ceiling. Addendum + 2 dark-mode charts on the results post; ideas.md #6 + idea page ledger updated. #6 escalation remains CLOSED.

actckpt-lineage-flip-prereg · cpu

#20 activation-checkpointing lineage-flip pre-reg DRAFT (CPU; unblocked 08-09 by the sdpa-pin fix 913fdc4 + the live K-smoke validation of the flag on CUDA): the perf review’s ~2.4-2.8 GiB/sample memory lever for TRAINING lineage…

boundary: DRAFT LANDED 05:1xZ 08-09; finalize + execute per actckpt-lineage-flip-ladder · pre-reg

idea6-subgoal-swap-read · gpu-local

#6 subgoal-swap content read (pre-reg 2026-08-09-prereg-subgoal-swap.md, posted this session): re-run the rung-(a) oracle arm with an episode-level seeded derangement of segment labels (format-valid, content-wrong)

boundary: CLOSED 03:5xZ 08-09: swap arm rc=0 03:42:36Z (~1.5 GPU-h <= 3 gate); dump oracles i+iv GREEN (25,788/25,788 swapped, 0 empty, 0 skipped; 2,162 textual coincidences recorded). Frozen reads banked analysis__subgoal_swap_ar100k_k4l2.json (execution oracles green): Delta_swap -0.113 [-0.161,-0.060] (wrong words HELP), swap-vs-oracle +0.166 [+0.127,+0.205] (truth clearly better), horizon last10 swap -0.175 vs oracle -0.480 (banked -0.464 signature reproduced). Frozen 3-row table: MIXED — record-only per pre-reg, no decision row fires; reading = ~40% format/prior floor + ~60% content margin of the -0.290 bound. Scorer escalations stay coherent but their prize is the ~0.17 content margin over a free ~0.11 any-words floor. Results post 2026-08-09-subgoal-swap-results.md + chart. · pre-reg

framemining-perpair-figures · cpu

OWNER STEERING 08-08 16:20-16:22Z: rework the frame-mining report’s contact sheet into one figure per mined pair

boundary: closed 2026-08-08 16:4xZ

fieldcond-subgoal-meta-report · cpu

OWNER STEERING 08-08 13:21Z: consolidated chart-led meta-report on field conditioning + ALL aux-subgoal idea work (title must NOT say ‘visual report’

boundary: closed 2026-08-09; owner-review window open — escalation picks in section 5/6 each need their own pre-reg

idea1-noise-ladder-rung2-execution · gpu-local

Noise-ladder rung 2 EXECUTION (idea #1, gpu): instrument the per-dataset routing mode (–noise-ticket-map: BijouPolicy._flow_noise substitution keyed on item repo_id; policy suffix _ticketmap; ticket_map_sha256 in npz+report prov…

boundary: CLOSED 2026-08-08 ~23:1xZ: stage-2 falsified + seating confirmed/adjudicated; babysit seating entry retired 22:2xZ · pre-reg

fieldgen-accuracy-eval · gpu-box

OWNER 10:08Z 08-08 accuracy-by-field — PREP DONE + AR-100k half CLOSED 11:1xZ same day (2f4d575 + pre-reg note 2026-08-08-prereg-accuracy-by-field.md): (1) CORRECTION

boundary: closed 2026-08-09 00:49Z; babysit entry pruned same session; last pending input for fieldcond-subgoal-meta-report now banked · pre-reg

idea6-subgoal-draws-cleancand-execution · gpu-local

#6 rung (b’) clean-list subgoal-draws EXECUTION (gpu-local, ~2.5-3.5 GPU-h, ceiling <= 5): per the posted pre-reg (2026-08-08-prereg-subgoal-draws-cleanlist.md) – (1) instrument delta oracle-gated BEFORE launch: eligible-list ru…

boundary: CLOSED 2026-08-09 00:2xZ: run complete 23:52Z 08-08 (q4 fallback 4301 rows, ~1.4 GPU-h <= 5 gate); subset-join read path landed in subgoal_draws_results.py (draws10/energy precedent, q4 slice fixture oracle-green) and frozen reads EXECUTED — E6 FALSIFIED (bon-self +0.210 [+0.113,+0.312] entirely above 0; Delta_bon +0.142 vs bare baseline = anti-selection), adjudication NO-SCORER (Delta_ceil -0.250 [-0.353,-0.148] alive, late-horizon -0.464); analysis banked reports/analysis__subgoal_draws_cleanlist_q4_ar100k_k4l2.json, results post 2026-08-09-subgoal-draws-cleanlist-results.md; selection family closed on scorer-free tricks, scorer-side escalations need own pre-reg · pre-reg

idea6-subgoal-draws-cleancand-prereg-draft · cpu

#6 rung (b’) escalation pre-reg DRAFT (CPU): truncation-robust candidate list

boundary: POSTED 08-08 17:5xZ; execution item carries the launch · pre-reg

discord-reply-reference-parsing · cpu

Harness fix (owner question 09:22Z): discord.py read/history do NOT surface native reply references (message_reference)

boundary: closed 2026-08-08 10:2xZ

chunk-mae-success-oneoff · cpu

OWNER 09:07/09:11Z: one-off record-only slice — eval/chunk_mae_success comparison e2b AR-100k vs molmo2 AR-40k (owner caveat quoted: soft judge label, not a substitute for chunk_mae; sparsity check first

boundary: closed 2026-08-08 10:4xZ (in-channel table)

snapflow-visual-report · cpu

OWNER 09:22Z: SnapFlow consolidated visual report — same chart-led treatment as the golden-ticket page (distill trunk story: teacher band, ftrig, 1-NFE student draws/collapse, microbench cost cells); values from banked reports on…

boundary: closed 2026-08-08 11:3xZ

molmo2-continuation-60k · cpu

OWNER STEERING 08-08 08:49Z (discussion requested, not a launch order): molmo2 +20k continuation

boundary: CLOSED 2026-08-09 00:5xZ: training done 23:21Z 08-08 (step 60000, ~49 <= 60 GPU-h), chained eval 23:49Z, canonical read EXECUTED via new molmo2_60k_results.py (oracle-gated) — read 1 IMPROVED paired -0.1388 [CI -0.194,-0.090] n=17204; read 2 AR-100k bar NOT passed (+0.058 chunk; first_mae 2.0719 already under 2.1431); read 4 no new probe low (6.0062@57k vs 5.91@26.5k); decision executed: attach repoint to step_060000 (amendment 3), K-smoke re-run required; leaderboard row 8 + board row; results post 2026-08-09-molmo2-60k-results.md · pre-reg

goldenticket-visual-report · cpu

OWNER STEERING 08-08 08:42Z: subsume the golden-ticket thread (pre-reg + results post + stage 1/2/3 analyses + jerk-pick + noise-ladder hooks) into ONE consolidated, chart-led visual report

boundary: closed 2026-08-08 09:1xZ; the standing more-visuals preference remains banked

idea1-noise-ladder-perdataset-prereg-draft · cpu

Noise-ladder rung 2 pre-reg — FINALIZED 08-08 13:2xZ work session (posts/2026-08-08-prereg-noise-ladder-perdataset.md, DRAFT banner dropped, immutable)

boundary: opens at the stage-3 R3/R4 close (~08:1xZ 08-08); draft quality gates on those numbers being in hand · pre-reg

idea19-jerkpick-selector-read · cpu

SDN jerk-pick selector, record-only ceiling-ladder read (CPU, table cost): place ‘pick the smoothest draw’ (RMS third-difference over the chunk, SDN 2606.14084’s smoothness stage

boundary: closed 2026-08-08 07:3xZ · pre-reg

molmo2-decode-cost-microbench · cpu

Leaderboard integrity: bring molmo2 AR configs into the decode-cost microbench (CPU prep item

boundary: closed 2026-08-08 07:5xZ

idea6-mcselect-execution · gpu-local

#6 rung-(c) masked-contrast selection EXECUTION (gpu-local, <= 4 GPU-h gate): per 2026-08-09-prereg-subgoal-mcselect.md

boundary: CLOSED 10:2xZ 08-09: run COMPLETE 10:20Z rc=0 (~1.1 GPU-h <= 4 gate, 68 f/min steady). Live-oracle chain: my subset_rows joined on the identity triple but the BANKED full-panel baseline predates the episode/frame columns -> KeyError post-run (selftest fixture carried the columns, so the branch was never exercised against the real schema); fixed to the sdr index-join convention 10:2xZ, selftest re-green, live oracles ALL ABORT-GRADE GREEN on real data (pred_masked flip count 1207/4301 == the amendment-1 composition figure exactly). FROZEN READ: ANTI-SELECT — (mc - self) +0.31317 CI95 [+0.19962, +0.42894] entirely > 0 (harder strike than SC +0.210); mc vs bare +0.245; capture fraction -1.73; late-horizon +0.385 (ceiling slot inverted); oracle agreement 14.4% ~ chance at 66% active picks. KILL RULE EXECUTED: zero-training scorer family CLOSED for this trunk; learned verifiers need their own case; candidate 2 does not auto-open (trigger was flat-late-horizon, observed = active anti-selection). Results post 2026-08-09-mcselect-results.md; analysis__subgoal_mcselect_q4_ar100k_k4l2.json banked; babysit entry pruned · pre-reg

idea6-subgoal-draws-escalation-prereg-draft · cpu

#6 rung-(b) ESCALATION pre-reg draft (CPU) — opens ONLY on a no-scorer verdict from the rung-(b’) read (rung (b) closed at table cost; (b’) carries the frozen falsifier + adjudication) (ceiling >> bon with diversity present); clo…

boundary: DRAFT LANDED 05:3xZ 08-09; execution per idea6-mcselect-execution · pre-reg

lit-slice-verifier-free-selection-followups · cpu

Standing lit slice (~20-30 min, owner allocation 2026-08-05): verifier-free candidate selection FOLLOW-UPS to the #6 rung-(b) scorer cell, timed to land BEFORE the rung-(b) read so escalation routing has its map

boundary: closed 08-08 04:1xZ (chained work session, inside the endpoint/R1 wait window - exactly the natural window the item named): all three lanes answered, papers page landed same session (papers/progress-from-logits.md: TOPReward 2602.19313 + ProgVLA 2605.28231). (a) NOTHING published beats self-certainty label-free at inference on open-ended text - the rung-(b) frozen scorer cell stands (RoVer/EVE are trained verifiers, named not competitors). (b) history fixes phase: TOPReward recovers progress zero-shot from a video PREFIX via one completion logit (log p(‘True’), no chat template), VOC 0.947 vs GVL 0.332 on ManiRewardBench, tested incl. Molmo2-8B (our trunk family) - history-conditioned planning is the evidence-backed planner-side escalation for the ~10/60 phase-offset mechanism; ProgVLA does NOT unblock (b) (progress heads are training-time reweighting only, -2.3 pt ablation, no single-frame-vs-history contrast). (c) MG-Select prerequisite VERIFIED MET - the paper masks text/state, never frames; our subgoal-masked reference = the planner-less path trained at 50% dropout; correction banked on papers/self-certainty.md (the old ‘frame-masked off-distribution’ note read the prerequisite too broadly); bare masking still gained in their ablation (17.0->22.6), dropout training doubled it (31.0). ideas.md idea-6 hook updated; NO new pre-reg (per the item’s own rule)

idea6-subgoal-draws-execution · gpu-local

#6 rung (b) subgoal-draws selection EXECUTION (gpu-local): (1) instrument + read script landed by the CPU-side item (idea6-subgoal-draws-instrument) (bijou.eval selfsubgoal mode + sampled pass-1 draws –subgoal-draws 8 –subgoal-…

boundary: closed 2026-08-08 10:2xZ at table cost (~1.6 of 6 GPU-h) · pre-reg

idea6-subgoal-draws-instrument · cpu

#6 rung (b) INSTRUMENT + read script (CPU, any GPU-busy window, oracle-gated, lands BEFORE the execution item’s launch

boundary: closed 08-08 03:5xZ (work session): instrument + read script landed oracle-green — bijou.eval subgoal-mode draws (pass 1 decodes 1 greedy + –subgoal-draws sampled candidates at –subgoal-temperature off ONE shared prefill via decoder.decode_value_line; per-step chosen/mean logprob stats make self-certainty exactly recomputable offline; model-level candidate-0 == full-pass greedy assert), _bonsubgoal/_ceilsubgoal SelectedSubgoalPolicy arms (SC pick vs token-F1 ceiling; label-less ceil rows render no hint; force_empty extends), –dump-subgoal-candidates machine-readable table w/ live picks + record-only likelihood/medoid alternates; scorers in bijou/eval/subgoal_scoring.py (pure, tie->lowest-index); read script fontaine/scripts/subgoal_draws_results.py (Delta_bon + paired bon-self vs banked rung-(a) self npz, Delta_ceil + ceil-self adjudication no-diversity/no-scorer, agreement records, horizon, first_mae mirrors, 11 abort branches, –oracle selftest green); 22 new tests in tests/test_subgoal_draws.py incl. REAL tiny-model decode-loop oracle-i half; check.py 489 green. GPU-side oracles (draws-0 bit-exact, forced-empty) remain the execution item’s preflight. · pre-reg

idea6-subgoal-draws-prereg-draft · cpu

#6 escalation rung (b) pre-reg POSTED 03:2xZ 08-08 (posts/2026-08-08-prereg-subgoal-draws.md): candidate-subgoal SELECTION frozen

boundary: closed 08-08: pre-reg posted + papers page landed + execution entry queued

idea1-golden-ticket-screen-execution · gpu-local

#1 golden-ticket screen: stage 1 DONE (R1 CONFIRM 04:2xZ 08-08: sd 0.82252 vs 0.0785, min 5.70564 vs 6.52401, winner ticket 33) -> stage 2 DONE (R2 REAL 05:1xZ: complement paired -0.924 [CI95 -0.985, -0.866] vs line -0.05 on 14,7…

boundary: closed 2026-08-08 08:2xZ · pre-reg

idea6-selfsubgoal-frozen-reads · cpu

#6 frozen reads + results post EXECUTED 02:4x-03:0xZ 08-08: selfsubgoal_results.py one command, execution oracles GREEN (anchor re-pool exact, identity/state-copy byte-match, modes carried; 25788 labeled/12 label-less rows, 5 dif…

boundary: closed 2026-08-08 ~03:0xZ · pre-reg

molmo2-endpoint-postprocessing · cpu

molmo2 40k endpoint POST-PROCESSING (CPU, opens when the chained greedy panel eval lands ~04-05Z 08-08): read eval__fontaine_molmo2_ar_40k_ddp4__step_040000__panel_curated_v0_k4l2.json -> leaderboard row (measured decode-cost col…

boundary: closed 08-08 05:0xZ (chained work session): greedy JSON landed 04:53Z (after the 04:16 chained-eval dtype incident was root-caused + fixed + relaunched via the #19 launcher’s greedy-if-missing clause, 5a43b15); frozen reads executed via molmo2_endpoint_results.py (oracle-green BEFORE data, 61dacb9): READ 1 = BEATS — 6.0079/2.1871 vs A-s0 7.7966/3.9422, paired -1.717 [CI95 -1.797, -1.635] on 17,204 core frames -> frozen decision executes, Molmo2 is the phase-2 flow-trunk candidate; READ 2 byte-match green (pooled 11.7847/2.6202; the pre-reg’s parenthetical 11.7639/2.5851 reproduces under NO pooling of this plan — drafting slip recorded, not silently corrected). Leaderboard row 7 added (cost cells await the microbench prep item — flagged, nothing mtime-derived) + own-topology table row; results post 2026-08-08-molmo2-endpoint-results.md published + Space 200-verified + Discord line; ideas.md #17/#19 hooks updated; babysit repointed train->greedy->draws10_t1 phases at each transition; endpoint probe 6.2075@40000 quoted in the results post as the vu5k amendment’s frozen-sanity bar input (feeds idea17 cell 2); checkpoint upload done same session (weights-only, 4 files hub-verified) · pre-reg

idea17-vu5k-finalization-prep · cpu

#17 vu5k finalization amendment PREP — EXECUTED 08-07 19:4xZ work session: byte-audit CLEAN at HEAD (all amendment-3 flags exist on bijou.train’s CLI; –init-from verified weights-only fresh-AdamW loading expert+prompt+adapted-ba…

boundary: CPU work at any GPU-busy window; wanted before the molmo2 endpoint (~04-05Z 08-08) so the finalization amendment can post same-session with the smoke once the box frees · pre-reg

idea1-golden-ticket-instrument · cpu

#1 golden-ticket screen INSTRUMENT — LANDED 08-07 19:4xZ work session, all 4 oracles GREEN: –noise-tickets ticket mode in bijou.eval (noise = tickets[draw] frame-independent via the _flow_noise seam; policy name gains _ticket; r…

boundary: done — execution item carries the launch · pre-reg

idea1-golden-ticket-prereg-draft · cpu

#1 golden-ticket noise screen — pre-reg POSTED 08-07 ~18:1xZ work session (2026-08-07-prereg-golden-ticket-screen.md, immutable, not a draft

boundary: DONE 08-07; execution item queued separately · pre-reg

idea17-molmo2-vision-unfreeze-prereg-draft · cpu

#17 molmo2 vision-unfreeze rung — pre-reg DRAFT — DRAFTED 08-07 ~17:5xZ; AMENDED 08-07 18:xxZ work session to the OWNER-STEERED (18:02Z) warm-start two-arm design (2026-08-07-prereg-molmo2-vision-unfreeze.md amendment 1, loud DRA…

boundary: DONE 08-07 (draft). Execution item queued separately; window opens after the attach-screen chain (~08-09+), owner-steered · pre-reg

idea16-critical-frame-repooling · cpu

#16 critical-frame re-pooling screen (CPU, CI-MSE transfer from the offline-validation lit slice 08-07)

boundary: DONE 08-07; rollout-vs-offline stays open until the #16 rig benchmark exists · pre-reg

attach-launch-save-cadence-prep · cpu

Attach-screen launch prep: save-cadence call + pinned-buffer hook decision

boundary: before the attach-screen launch (~08-08, after molmo2 endpoint + K smoke ladder); CPU work at any GPU-busy window

lit-slice-decode-temperature · cpu

Standing lit slice (~25 min, owner allocation 2026-08-05): decode-time stochasticity for tokenized-action policies, timed to the #19 tsens rungs scoring tonight

boundary: DONE 08-07 same-session; the dT read (tonight) consumes the prior

driver-background-task-guard · cpu

OWNER STEERING 08-07 13:05Z (tooling follow-up to the 12:56Z premature-session-end incident), PULLED FORWARD 08-07 15:4xZ = NEXT CPU ITEM (async-ckpt done; 2 GPU runs killed by this in one day): harden the session driver so a com…

boundary: DONE 08-07: run_detached.sh is the required launch path for anything that must outlive a session

lit-slice-async-training-systems · cpu

Standing lit slice (~20-30 min, owner allocation 2026-08-05): async/overlapped-checkpointing + training-systems efficiency cluster, timed to the just-landed async_save.py (e3bdc93)

boundary: DONE 08-07 before the attach-screen launch; save-cadence call (follow-up hook) belongs to attach launch prep

idea19-tsens-dt-read-execution · cpu

#19 dT diagnostic read EXECUTED 23:09Z 08-07: monotone table chunk 6.5004/6.5668/6.7812/7.1843 at T=0.5/0.7/1.0/1.3 (record-only, primary stays T=1.0; T=1.3-asymmetry prior confirmed); babysit entry pruned, local GPU confirmed fr…

boundary: closed 2026-08-07 23:09Z; follow-up read item still open: T-guard delta via q4 subset join · pre-reg

idea4-f-then-joint-prereg-draft · cpu

#4 F-then-joint escalation rung — pre-reg DRAFT (CPU; the APT-named recipe, papers/apt-expert-pretraining.md): warm-start a joint run (unfrozen trunk, seam per readout) from the F arm’s converged expert instead of from noise; APT…

boundary: opens after the #4 attach-screen frozen reads (~08-09+); the draft is CPU work at any GPU-busy window AFTER Delta_seam is banked; execution needs its own posted pre-reg + owner-visible queue entry | 12:4xZ 08-09: Delta_seam readout will NOT arrive (owner killed K); draft basis re-anchors on F-arm curves + the 4x step-cost fact — joint-anything must now argue against that cost. Stays blocked pending stage-2 decision memo. | UNBLOCKED 13:5xZ 08-09: the stage-2 decision memo is the replacement basis (frozen adopted; joint-anything must argue vs the measured 4.11x joint-step cost). CPU draft at any GPU-busy window; natural target = the adamc_100k endpoint (~08-12); execution still needs posted pre-reg + owner go. | DONE 14:2xZ 08-09 work session: pre-reg DRAFT posted (posts/2026-08-09-prereg-fjoint-rung.md) — J (unfrozen, no stop-grad, CE rider, warm-start from banked F@10k expert) vs F2 (frozen continuation control), matched +5k eff-48 shared fresh seed 2, primary Delta_joint paired CI, conditional 10k extension, adoption bar -0.3, drift band 0.3 vs 60k 5.8602; committed ~32 GPU-h ceiling 35 (extension -> global 70), J rate anchored on K measured 3.782 s/step; 4x-cost burden argued up front (bounded final phase, not a lineage). Code audit: –init-from does the warm-start; instrument gaps named (composite materializer, naive-joint guard escape narrowly scoped, AR-view compat, J-config memory smoke). Finalize+execute split to idea4-fjoint-rung-finalize-exec. · pre-reg

lit-slice-vla-initialization · cpu

Standing lit slice: the VLA-initialization thread APT opened (radar hooks banked 2026-08-07): 2605.25802 (Rethinking VLM Representation for VLA Initialization) + 2601.03309 (VLM4VLA)

boundary: CPU work at any GPU-busy window; most valuable before any F-then-joint escalation arm is drafted (post-screen, ~08-09+)

leaderboard-decode-cost-microbench · gpu-local

Leaderboard compute-column micro-benchmark PREP (owner steering 08-07 10:04Z follow-up; CPU now): write the timing script + its short pre-reg post

boundary: GPU run executes when draws10_t1 frees the local GPU (boundary ~12:3x-12:5xZ 2026-08-07), before the next local launch; consistency anchor: ar_greedy batched ~88.7 ms/frame · pre-reg

lit-slice-attachment-frontier-pre-endpoint · cpu

Standing lit slice (~20-30 min, owner allocation 2026-08-05) targeted at the #4 attachment/seam frontier BEFORE the molmo2 endpoint stage-2 attachment decision (~08-08, carries the pi0.5 deep-read’s two named arms): sweep for new…

boundary: CPU work at any GPU-busy window; highest value before the ~08-08 stage-2 attachment decision opens

endpoint-runbook-git-audit · cpu

Pre-endpoint runbook git-audit (CPU, integrity class — the audit-queue-items-against-git standing practice applied BEFORE the highest-stakes window opens): for every blocked endpoint-chain item (idea19-molmo2-draws-arm, selection…

boundary: run before the molmo2_ar40k endpoint (~2026-08-08) opens the box chain; CPU work at any GPU-busy window

idea19-tsens-dt-read · cpu

#19 dT diagnostic read script (CPU now, RECORD-ONLY per the pre-reg sensitivity clause

boundary: script landed; the read runs only after the tsens rungs land (which gate on the primary landing inside 24 GPU-h, boundary ~13Z 2026-08-07) · pre-reg

papers-section-retroactive · cpu

OWNER STEERING 08-07 08:42Z, HIGH PRIORITY: new Papers section on the blog

boundary: DONE 2026-08-07: permanent page-per-slice rule remains in force for every future lit slice

idea19-endpoint-fairness-es-read · cpu

#19 energy-score + fairness reads on the molmo2 endpoint draws dump (CPU script now, exploratory record-only

boundary: script is CPU work at any GPU-busy window; the read runs after the molmo2 endpoint draws arm lands its npz (~2026-08-08)

idea19-t-sens-launcher-script · cpu

#19 T-sensitivity rung launcher script (CPU now): the pre-registered RECORD-ONLY rung as one command

boundary: script is CPU work now; execution opens after the draws10_t1 boundary (~13:0x-13:3xZ 2026-08-07) and ONLY if the primary landed inside its gate; needs a quiet local-GPU window · pre-reg

idea19-selection-ceiling-read-script · cpu

#19 selection-rung ceiling read script (CPU now, banked lit rung

boundary: script is CPU work now; the read runs after the molmo2 endpoint draws arm lands its npz (~2026-08-08); AR-100k draws10_t1 retained only pooled predictions (accepted 08-07) so this read is molmo2-endpoint-first

draws10-t1-read-script · cpu

draws10_t1 frozen-read script — SCRIPT LANDED 2026-08-07 ~07:5xZ (draws10_t1_results.py: reads 1-5 one command, oracle-gated all branches + 11 hard-abort guards; q4-fallback index join + molmo2-arm explicit paths supported)

boundary: wanted BEFORE the draws10_t1 boundary ~13:0x-13:3xZ 2026-08-07 (the draws10-frozen-reads item consumes it at completion) · pre-reg

box-home-sweep · cpu

Run tidy_home.py –apply on the box ~ (133 entries, all movable ones owner-era mainline artifacts)

boundary: BOX-KILL AUDIT 22:5xZ 08-17 (queue-box-kill-audit): OBSOLETE-CLOSED — the box (and the ~ this item would sweep) was killed by the owner 08-17 after the verified HF evacuation; there is nothing left to tidy. The pending owner all-clear ask (03:1xZ 08-07) is moot; no reply needed.

molmo2-stage2-attachment-decision · cpu

Molmo2 stage-2 attachment decision at endpoint — now EXECUTABLE via the seam-screen pre-reg (2026-08-07-prereg-molmo2-attach-screen.md: frozen vs KI-joint is the first measurement; the depth-of-reads arm stays open for its own sc…

boundary: STEER WINDOW CLOSED 04:57Z 08-09 into the named default (posted 04:42Z, Discord read clean at 04:56Z boot): arm F LAUNCHED 04:57:51Z. The decision itself now lands at the screen readout: Delta_seam frozen read (attach_seam_results.py) after BOTH arms + their panel_v2 evals complete; blocked on idea4-attach-screen-execution | RE-SCOPED 12:4xZ 08-09 (owner killed K): decision basis = F arm only (panel_v2 banked, state-copy beaten decisively) + production frozen-first votes (RDT2, Qwen-VLA) — no Delta_seam number. Write the decision memo from banked artifacts (CPU); if a seam number is ever wanted, pre-register a CHEAPER matched read (short-K or CE-probe-only) as a separate item. AFTER the docs pass (owner prio). | DONE 13:5xZ 08-09: decision memo posted (posts/2026-08-09-molmo2-stage2-attachment-decision.md) — FROZEN DEFAULT STANDS for the Molmo2 trunk class; KI-joint closed-unmeasured (F panel 9.4157 vs state-copy 11.7639; 8 matched probes K-F mean +0.208; measured 4.11x step cost; RDT2 + Qwen-VLA frozen-first votes). Delta_seam@3750 rescue read priced ~2.5 GPU-h, needs own pre-reg. Chart + ledger + ideas.md updated.

molmo2-60k-html-panel-report · cpu

Molmo2 60k HTML panel report backfill (OWNER STANDING RULE 08-09 03:55Z)

boundary: CLOSED 04:0xZ 08-09 (same session as the K-smoke ladder launch it was to ride); MAE oracle satisfied by the banked json itself (no re-run, no drift possible); owner correction posted in-channel · pre-reg

idea4-attach-k-smoke-ladder · gpu-box

#4 K-arm smoke memory ladder script — SCRIPT LANDED 08-07 ~06:5xZ (smoke_attach_k_ddp4.sh: exact K recipe verbatim incl

boundary: DONE 2026-08-09 04:39:33Z — RUNG 1 (B12c6) GREEN AT FIRST TRY on attempt 2 (unit fontaine-attach-ksmoke at 913fdc4): rc=0, vram_alloc_peak 57.34 GiB <= 71 gate, nvidia-smi peak 63887 MiB <= ~75000 advisory, s/step(last5) 5.675; FULL BATCH B12c6, no downshift. True cost ~0.5 GPU-h (incl. attempt-1 #20 crash) <= 6 gate. k_mem_ready written on box + rsynced to local fontaine/harness/state/ 04:4xZ. Ladder projection: K 10k ~63.1 of 70 GPU-h batch gate (advisory; attach_rate_gate.py binds at launch). Attempt-1 crash = idea #20 CUDA bug, fixed 913fdc4 same session. -> owner steer window molmo2-stage2-attachment-decision NOW OPEN · pre-reg

lit-slice-attach-window-0809 · cpu

Standing lit slice (~20-30 min, owner allocation 2026-08-05) in the attach_F train window: web/arXiv sweep for ideas worth trying; current open hooks = FlowDAgger follow-ups (latent-DAgger family), anything re-ranking the #4 F-vs…

boundary: EXECUTED same session as queued (attach_F window)

idea4-attach-screen-execution · gpu-box

#4 attachment seam screen execution (box, 4xDDP, sequential F then K): F frozen-trunk vs K KI-joint (phase-1 CE verbatim + stop-grad seam, alpha=1) at matched 10k steps / eff-48 from the 40k endpoint; residual surface constant; g…

boundary: ARM F LIVE since 04:57:51Z 08-09 (unit fontaine-attach-f, box 6be4e8e, B12c6 from the 60k endpoint). Rate gate PASS 05:05Z (50.3 projected <= 70, full 10k). Kill-bar judgments at save boundaries: @5000 PASS 10.2595 vs 12.6394 (phase-1 matched +0.62), @7500 PASS 9.9391 vs 11.6356 (phase-1 matched +1.30); @10000 bar 10.1652. Rate ~0.92 s/step, 62-63 steps/min effective; vram 19.05 GiB. Async-save validated live at 1250. F endpoint ~07:4xZ -> chained panel_v2 eval in-unit -> THEN launch K (K_MEM_READY=1 BATCH=12 BACKWARD_CHUNKS=6, EXTRA_GPU_HOURS recomputed from F actual ~10.2 train + evals; babysit attach_K entry at launch). Frozen reads after both arms | F TRAIN COMPLETE 07:42:08Z (all bars passed, endpoint probe 9.3798@10000); panel_v2 eval live 5645 frames ~1.6h (done ~09:2xZ), eval gate raised 6->8 judged CONTINUE (session estimate vs pre-reg EXTRA budget). F expert capital uploaded to fontaine-checkpoints same-session (expert+prompt+config+README; backbone DEDUPLICATED — byte-identical sha e6ed78 to the 60k trunk, freeze verified at upload). K LAUNCH = next session first action once box frees | F panel_v2 eval COMPLETE 08:01:0xZ 08-09 (~1.24 GPU-h actual — scoring hit ~457 f/min steady-state, the 6.4 estimate was load-phase-contaminated; json/npz/html banked on box, NOTHING read alone). ARM K LAUNCHED 08:01:19Z same tick (unit fontaine-attach-k, K_MEM_READY=1 B12c6, EXTRA_GPU_HOURS=17 from F actuals 10.2 train + 1.25 eval + K eval ~2 + AR panel ~3); in-launcher rate gate binds at first jsonl window (rc 2 => matched 5k downshift both arms, F re-evals step_005000). Babysit attach_K entry live (3 probe bars + vram 71 + CE-health watch) | OWNER KILL 12:31:43Z 08-09: ‘way too slow per step’ — attach_K stopped 12:38Z at step ~4160/10k (3.74 s/step vs F’s 0.92, ~4x; unit fontaine-attach-k stopped, box GPUs 0 MiB x4, checkpoints through step_003750 retained on box, NOT uploaded — partial arm, nothing consumes it). NO K endpoint => Delta_seam matched read and read-4 AR-view drift are OFF under this pre-reg. Screen closes on F evidence: all F bars passed, F panel_v2 banked, F expert capital uploaded. ~13.6 GPU-h spent on K (08:01-12:38Z). · pre-reg

owner-docs-pass-0809 · cpu

OWNER STEERING 12:28:59Z 08-09, TOP PRIORITY: docs/ modernization pass ahead of owner’s main-rebase

boundary: DONE 13:3xZ 08-09 (e7144c3): README two-trunk + fontaine-vs-shared split; architecture.md modernized (intro/S1/S2/S5/S7/S8 — Molmo2 everywhere it belongs, curated-plan ledger, shipped-flag demotions, CLI-default corrections 768/15/4-4-7, residual+seam+snapflow documented); molmo2/gemma4/styleguide/working-together/rollout/init_gpu fixed; 4 historical docs got archive headers. Staleness audit by subagent against HEAD drove the pass. Remaining tail split to docs-pass-followups-0809.

owner-molmo2-adamc-run-prep-0809 · cpu

OWNER STEERING 12:37:56Z 08-09, TOP PRIORITY (‘let’s start with it’): new molmo2 run from BASE 4B

boundary: DONE 13:3xZ 08-09, RUN LAUNCHED: AdamC implemented 401d6f7 (10 oracles, check.py 584 green; partition corrected/head/no-decay + tied-param guard both optimizer modes); parameter sheet posted (2026-08-09-prereg-molmo2-adamc-100k.md) + Discord 13:13Z; owner approvals 13:19Z (text+vision 2e-5, seed 1, save 5000, NO smoke) + lambda override 13:24Z (1e-5 lineage value; first launch at 0.01 stopped PRE-STEP-1 13:29Z, relaunched 13:30Z). Unit fontaine-adamc-100k live, banners verified (E1 exact, vision 439.1M live, AdamC lambda=1e-05, 4074.7M corrected / 2.6M head / 0.6M undecayed). Babysit adamc_100k entry live (260 GPU-h gate, 77 GiB near-OOM watch, K1-style probe bars). Endpoint ~08-11/12 -> chained k4l2 panel eval.

idea19-molmo2-draws-arm · gpu-box

#19 molmo2 sampled-draws arm execution at the 40k endpoint (pre-reg’d in ar-sampled-draws post: greedy + _draws10_t1 same stems, same cost gate w/ q4 fallback)

boundary: closed 2026-08-08 07:3xZ · pre-reg

idea6-selfsubgoal-probe · gpu-local

#6 rung-(a) self-subgoal probe COMPLETE 02:37Z 08-08 (~3.2 GPU-h <= 8 gate): arms rc=0 (oracle full panel + marker-gated self two-pass; narrated free from pass 1); READ OUT same session

boundary: closed 2026-08-08 02:37Z (arms) / 02:5xZ (reads); babysit entry pruned same commit · pre-reg

draws10-frozen-reads · gpu-local

draws10_t1 frozen reads (delta_AR vs 5.8026, fairness vs -1.258, family vs 5.365) + T-sensitivity rung after

boundary: opens at draws10_t1 completion (~13:0x-13:2xZ 2026-08-07); reads are frozen in the pre-reg · pre-reg

blog-ideas-refactor · cpu

OWNER STEERING 08-07 13:02Z: refactor Ideas — one page per idea (content copied as-is first), then an Ideas index/home page splitting hot (actively pursued) vs on ice (parked/older); index and pages updated regularly as the progr…

boundary: mechanical split + index in the 08-07 13:04Z session; per-page details audit may roll to a follow-up item if the merge chain preempts

blog-now-archive-sort · cpu

OWNER STEERING 08-07 13:02Z: sort the Now-archive per-date pages most-recent-first (SUMMARY sidebar + archive/index.md) and fix archive_now.py so every roll maintains the order automatically

boundary: execute in the 08-07 13:04Z work session’s bench-wait window

async-checkpoint-saves · cpu

OWNER STEERING 08-07 13:58Z, HIGH PRIORITY: async checkpoint serialization for bijou.train

boundary: DONE 08-07 before the attach-screen launch (~08-08) as targeted; verify async-save lines at that launch’s first babysit

draws10_t1 · gpu-local

AR-100k draws10 T=1 panel eval (local GPU) — COMPLETE 08-07 ~12:1xZ, frozen reads ALL EXPECTATIONS MET (delta_AR -0.14505 CI excl 0; ~9x smaller than flow gain; no overtake); leaderboard row 5 landed 08-07 work session

boundary: ~13:0x-13:2xZ 2026-08-07 (cumulative 32.2 f/min at 03:07Z -> ~13.3 h total, re-projected each babysit; 24 GPU-h gate) · pre-reg

molmo2_ar40k · gpu-box

Molmo2 AR 40k trunk run (box, 4xDDP) — K1 GATE CROSSED GREEN 08-07 06:0xZ: probe 7.1652@10000 vs bar 12.0944 (margin 4.93, new low); run continues to 40k endpoint

boundary: closed 2026-08-08 ~04-05Z (endpoint + chained greedy panel; results in molmo2-endpoint-postprocessing). Status was stale ‘live’ until 16:5xZ — caught by the first Queue-page render · pre-reg

ar100k-tsens-q4-live · gpu-local

#19 T-sensitivity q4 rungs COMPLETE 23:09Z 08-07 (3/3 rungs, 4301 rows each, ~7.2 GPU-h <= 12 gate): dT table banked reports/analysis__tsens_dt_ar100k_q4.json (record-only)

boundary: closed 2026-08-07 23:09Z; babysit entry pruned same session · pre-reg

molmo2-perf-pass1-subset-landing · cpu

perf pass-1 SUBSET landing (CPU; the frozen <5% decision branch executed 02:26Z 08-09): build a P1-free subset from branch perf-pass1

boundary: LANDED 04:3xZ 08-09 (6a4b45e, the K-smoke attempt-2 wait window): clean cherry-pick of 22e8148 onto 913fdc4 (P1 not carried); bitwise oracle re-run HEAD-vs-subset 118/118; check.py 558 green. No speed claim per the frozen rule. NOT synced to the box until the live ladder finishes (box code frozen under a live run) · pre-reg

molmo2-perf-pass1-exec · gpu-local

molmo2 perf pass 1 EXECUTION (gpu-local, <= 3 GPU-h): per the finalized pre-reg

boundary: CLOSED 02:26:32Z 08-09 rc=0: OVERLAY PASS (0.0816 <= 0.3919 band); LADDER(BOX) A=2.251s B=2.495s C=2.415s -> B -10.8% / C -7.3% vs A (bundle SLOWER on the true 4xDDP recipe; local microbench transfer FALSIFIED); vram A=B=C=66.6 guard pass. Frozen <5% branch executed: bundle does NOT land; P1 doubly dead (loss-bound fail + -10.8% measured) so the owner relative-bound question is MOOT; P2+bitwise subset split to molmo2-perf-pass1-subset-landing. True cost ~5.5 GPU-h vs 3.0 ceiling (CONTINUE judged 01:42Z, cause owned: model loads uncounted). analysis__perfpass1_box_ladder.json banked; results post 2026-08-09-perfpass1-box-results.md · pre-reg

molmo2-perf-fix-prereg · cpu

molmo2 perf pass 1 pre-reg DRAFT (CPU->gpu-local): from the 08-08 review (posts/2026-08-08-molmo2-perf-review.md) bundle the S-effort items: suffix sdpa -> cuDNN (one-line + one-step parity gate), windowed vram peak logging (rese…

boundary: FINALIZED (not just drafted) 08-08 14:3xZ work session — nothing waited on data: change specs pinned from HEAD re-audit, oracle bounds + bench protocol + decision rules frozen in the post; execution split to molmo2-perf-pass1-exec · pre-reg

owner-molmo2-perf-review · cpu

OWNER STEERING 08-08 13:09Z molmo2 perf/memory deep review — SHIPPED same session (posts/2026-08-08-molmo2-perf-review.md + in-channel summary)

boundary: opened by owner message 13:09Z 08-08; review report lands same session (13:3x-16:5xZ)

tiny-expert-capacity-10k · gpu-local

T1 tiny-expert capacity rung, FINAL DESIGN (owner yes 19:59:04Z; 40k/biggest-batch amendments REVERTED by owner 20:08:53Z ‘Let’s do your original plan’ after the wall-clock arithmetic

boundary: fit ladder ~20:3xZ -> 10k run ~10-11 h -> endpoint ~06-07Z 08-10 + ~1.3 h eval; first-poll s/step + vram + projection in-channel; babysit tiny10k entry live, gate 15 GPU-h | HOST-RAM OOM KILL 20:52:08Z 08-09 at step 500 (first probe 16.46@500 landed, no ckpt yet): kernel OOM killer, pt_data_worker x20 at ~7-9 GiB RSS each (~150-190 GiB) + 46 GiB main proc vs 221 GiB host — the launcher kept the box recipe’s –num-workers 20 –prefetch-factor 4, lethal at batch 48x1. AMENDED to –num-workers 10 –prefetch-factor 2 (sample order unchanged, recipe identical) + SKIP_LADDER=1 escape (b48c12 already green); RELAUNCHED clean from step 0 same seed ~21:03Z, ~0.4 GPU-h lost. New projection: endpoint ~05:1xZ 08-10 -> Delta_capacity read ~06:3xZ. Owned in-channel 21:16Z. | CLOSED 05:5xZ 08-10: train COMPLETE 05:06Z (~8.7 GPU-h incl the second host-RAM OOM at step ~9,060 04:00:55Z + resume-from-8750 replay, workers 10->6), chained panel_v2 @10000 COMPLETE 05:45Z (~0.6 GPU-h, ~9.3/15 gate). PRIMARY READ: Delta_capacity@10k = +0.188 [CI95 +0.155, +0.221] paired per-frame on 15,056 panel-v2 core frames (tiny 9.6094/3.0758 vs F 9.4157/2.9581) = capacity prior CONFIRMED at the pre-registered |d|<=0.3 band; CI excludes zero so the width cost is real-but-small (+2.0%, late-horizon: per-step delta +0.106 -> +0.374 across the 50-step chunk); state-copy execution oracle byte-green ACROSS MACHINES (box F vs local tiny); probe-vs-panel sign flip logged (probe -0.069 under, panel +0.188 over). Expert sizes measured: tiny 86.8M vs F 367.5M (4.2x total; tap/adapter surface is the fixed cost). Results post 2026-08-10-tiny-expert-results.md + 3-panel chart; analysis__tiny10k_delta_capacity.json + both panel html/json on the Space; step_010000 weights-only uploaded to fontaine-checkpoints (backbone deduplicated, sha verified); babysit entry pruned; local GPU FREE 05:45Z. · pre-reg

owner-trajectory-datasets-survey-0809 · cpu

OWNER STEERING 19:58:05Z 08-09: investigate additional trajectory datasets we could train on

boundary: CLOSED 2026-08-09T20:56Z work session (stale-close audit vs git: the work landed in the 19:49-20:3x session, commit beb8659, but the item was never flipped): survey post posts/2026-08-09-trajectory-datasets-survey.md shipped via 4 parallel research subagents, all links fetch-verified, Space 200-verified, in-channel summary posted 20:21:21Z with headline (855 in-scope SO-100/101 hub hours vs our 229, ~300h new 2026, sim-contamination hazard, MolmoAct2 curation diff = #1 recommendation); idea #9 fed. Follow-ups (corpus-delta re-crawl + MolmoAct2 diff, Bridge V2 pilot) are owner-decision items, deliberately NOT auto-queued.

molmoact2-oob-panel-eval · gpu-local

OWNER STEERING 10:50Z+11:06Z 08-10: MolmoAct2 (allenai/MolmoAct2-SO100_101) out-of-band eval on the k4l2 panel

boundary: CLOSED 14:4xZ 08-10, DELIVERED END-TO-END IN ONE SESSION (~1.3/8 GPU-h): sweep rc=0 14:23:47Z (25,800 frames, 352 f/min sorted-index locality), frozen reads + contamination json banked (matched-window core, willnorris/bbox-2 excluded per owner amendment 13:14Z: snapflow top10tickets 3.90 / 60k-cont 4.46 / 40k 4.56 / stablekey 5.06 / er15k 5.89 / state-copy 8.32 / MolmoAct2 13.87 pooled = 16.97 clean-633 vs 7.00 contaminated-245; every paired read MOLMOACT2-WORSE, tight CIs; on their own training repos they beat state-copy -0.75 but trail snapflow +3.29 [+3.11,+3.48]), 3-policy HTML report rendered first try (32-frame gallery, 4 policies/joint, horizon visible) + uploaded to the NEW fontaine-reports static Space + reports.md section + numbers in-channel 14:37Z. HEADLINE FINDING: the released SO100_101 fine-tune does not transfer outside its 1,220-repo mixture (predicts sane joint-unit motion in the wrong workspace frame on unseen rigs). Owner threads answered same-session: 12:59Z inference-correctness challenge (contamination-split proof), 13:14Z exclusion amendment (applied + oracle branch), 13:48Z blog-storage question, 13:51Z reports-migration directive (fontaine-reports static Space live - dataset repo serves text/plain, tested; 72 blog links rewritten + 31 redirect stubs; squash queued behind HF GC via unit fontaine-blog-migrate), 14:13Z navbar bug (missing hashed toc js from the morning incident, re-uploaded, fixed). ORIGINAL EXECUTION RECORD: pre-reg finalized 00a9feb, smoke green 12:5xZ, sweep launched 13:2xZ after objection window. · pre-reg

snapflow80k-draws10-panel-eval · gpu-local

OWNER REQUEST 14:33Z 08-10 (recovered 15:0xZ after the babysit-grep consume miss): full-panel mean-of-10-draws heun-30 eval for snapflow 80k (bijou_flow_artrunk_h1024_40k_ddp2 step_080000, local checkpoint on disk) -> its row joi…

boundary: OWNER SKIP 15:01:04Z 08-10 (‘Let’s skip 2’) — cancelled before launch, 0 GPU-h spent; the heun-30 single-draw row (zero-GPU) covers the single-draw reference in the report. Reopen only on explicit owner ask. · pre-reg

molmoact2-rig-finetune-runbook · cpu

OWNER QUESTION 15:19:45Z 08-10: ‘How could I – out of band – fine-tune molmo2act on my rig datasets and then do local rollouts? Happy to use their code.’ Answered in-channel 15:23Z (4-step shape: rig repos are LeRobot-native ->…

boundary: EXECUTED IN FULL 2026-08-10 16:1x-17:5xZ: codebase_version read (both repos v3.0) -> pre-reg posts/2026-08-10-prereg-molmoact2-rig-finetune.md + param sheet in-channel 16:20Z (objection window to 17:50Z) -> preflights P1-P4 green (P3 Amendment 1 posted in-window: offset tripwire record-only, measured posture-collapse via state-norm saturation [43.7,185.3] theirs vs [-103,+67] rig, 97% frames saturating; sign gate all-positive; anchors zero-shot 28.95 / state-copy 9.08 on 240 rig frames) -> runbook posts/2026-08-10-molmoact2-rig-finetune-runbook.md (incl. SO-101 server adaptation, v3.0-end-to-end rollout rule, safety rails) -> LAUNCHED 17:48:18Z unit fontaine-molmoact2-rig-ft (silence=launch honored), first-poll green 17:58Z (830 f/min, ~2.6 GPU-h projected vs 12 gate, vram 38.9). Successor: molmoact2-rig-ft-postprocess.

blog-space-gc-tail · cpu

Blog Space storage tail (manual-only — the retry unit is STOPPED and must NOT be re-armed)

boundary: HF GC can take up to ~6h from the 13:5xZ 08-10 squash attempt; owner ask due ~08-11 morning if unchanged.

molmoact2-rig-ft-postprocess · gpu-local

Rig fine-tune rung reads + report + checkpoint upload (successor to molmoact2-rig-finetune-runbook)

boundary: CLOSED 21:0xZ 08-10 work session, all 7 steps: rc=0 20:27:44Z verified (2000 steps, 2.7/12 GPU-h); step2000 converted (/checkpoints/molmoact2-so101-rig-r1-step2000-hf, rig norm_stats verified); rung read MAE 3.2301 (PRE-REG PASS: monotone 6.76/4.66/3.59/3.23, beats zero-shot 28.95 + state-copy 9.08, all 6 corrs +0.885..+0.965, offsets <=0.63, oracles green); results post posts/2026-08-10-molmoact2-rig-ft-results.md + HTML report eval__fontaine_so101_rig_ae_r1__anchor_rungs.html on fontaine-reports (curl 200) + 5 frozen jsons uploaded + reports.md section; weights delta to fontaine-checkpoints/molmoact2_so101_rig_r1_step2000 (AE 588 tensors + resized wte/lm_head, trunk dedup sha-verified 704/707 byte-identical); babysit entry pruned; runbook section 5 updated with measured numbers. Numbers + joint1-wording correction posted in-channel (owner 👍 on the 20:30Z results post). · pre-reg

molmoact2-firstclass-port · cpu

OWNER GO 20:06:37Z 08-10 (‘Let’s do it, 1 through 4’ on the 19:5xZ in-channel estimate): make MolmoAct2 first-class in-repo, rig-path-first

boundary: CLOSED 07:1xZ 08-11 work session — ITEM 4 G4-PASS ends the port (items 1-4 all closed): bijou/molmoact2/train.py (f9bc0ba) = first-class AE fine-tune trainer in the port package, their recipe verbatim (2000 steps, 64 global = 8x8 micro, AE-only 577,564,448 trainable = the G1-measured count, AdamW 5e-5/(0.9,0.95)/1e-6/wd0, warmup 200 -> cosine 0.1x, clip 1.0, t=0.001+0.999*Beta(1,1.5), target actions-noise, valid-dim-mean MSE, rig-only q01/q99 pinned from the run-1 export, their img_aug=full op-for-op), TWO NAMED DELTAS pre-declared in the exec note (deterministic frozen trunk vs their live residual_dropout=0.1; per-frame sqrt-weighted sampling w/ replacement). Zero patches against their checkout — all three train_lerobot.py patches retired (our in-repo lerobot ingests the rig repos’ language columns natively). Run molmoact2_ae_ours_r1 unit fontaine-molmoact2-ae-ours 05:19:51-06:56Z rc=0, ~1.9/6 GPU-h (port total ~2.6/8). G4 ALL FOUR CLAUSES PASS (fontaine/scripts/molmoact2_ours_ft_rung_read.py, 240 banked anchor rows, same per-row seeds): final rung 4.8846 < both anchors (28.9454/9.0824); monotone 8.18@500 -> 6.16@1000 -> 5.21@1500 -> 4.88@2000; loss corridor 96 matched steps ratios [0.63,1.33] zero violations (rule frozen pre-launch: 5-pt rolling median in [0.5x,2x] at steps >=100); gate met. 8 CPU oracles tests/test_molmoact2_train.py, check.py 667 green. RECORD-ONLY FINDING: our rungs ~+1.65 above their-trainer run (4.88 vs 3.23@2000) while our LOSS ends 37% below (ratio 0.63) — fingerprint of the trunk-dropout delta; their stochastic-KV regularization buys anchor accuracy. Dropout-matched rung = named lever, NOT queued (needs own pre-reg). Artifacts: analysis__molmoact2_ours_ft_rung_read.json + corridor series on fontaine-reports (curl 200 x2); step_002000 AE-only bf16 predictor-consumable -> fontaine-checkpoints/molmoact2_ae_ours_r1_step2000. Post-port unlocks live: panels score MolmoAct2 natively, SnapFlow 1-NFE distillation of their AE pre-registerable, rollout server can load either stack. · pre-reg

er60k-events-oneoff-report · gpu-local

OWNER REQUEST 12:44:35Z + 12:45:13Z 08-11 (one-off, ‘post a neat html report’, ‘I want to see many varied examples of events’): quantitative + qualitative investigation of the events the model generates vs ground truth (weak judg…

boundary: CLOSED 16:0xZ 08-11 work session, all 6 scope steps end-to-end (~1.55/4 GPU-h): (1) INSTRUMENT landed commit 7f43c54 (–dump-generations + main-arm retention under explicit –generate + aux metrics from any retained voice + Q3 predict_with_text guard; ShardResults.generation_identity shard-safe; closes the 35k aux-arm debt); (2) DUMP PASS rc=0 15:5xZ unit eval-er60k-events-dump (25,800 rows, single narrated all-fields arm, ~275 f/min; launch note + frozen spec in-channel 14:13Z pre-GPU; 24-frame smoke first). Instrument oracle: presence acc 0.8568 vs banked 0.8582 = delta 13/8,987 frames, INSIDE the documented cross-world-size bf16 batch-composition band (banked was a 4-way box shard) — near-reproduction reported with the caveat, not claimed exact; (3) QUANT analysis__er60k_events_confusion.json: both-none 7,238 / hits 333 / swaps 129 / MISSES 683 / false alarms 604; model speaks on 40% of the 1,145 gt-event frames, class-agrees 72% when it does; exact-string 3.6%; (4) QUAL report__er60k_events_oneoff.html — 136 image cards, repo-diverse galleries per bucket; (5) PROBE analysis__er60k_events_probe.json: 683 misses -> 679 forced (replay oracle bit-exact 679/683, 0 none-variants post-ban): forced guess lands gt class 428/679 = 63% -> dominant miss mode is saw-it-under-threshold (idle 86/release 80/occlusion 72/blur 62%; camera_view 10%, episode markers 0% = the genuinely-not-encoded tail); (6) HTML + all 5 artifacts on fontaine-reports curl-verified (html serves via 302->CDN->200 full 10.7 MB), reports.md section, numbers in-channel 16:0xZ. Named lever FED TO IDEAS (#23 event-none-calibration, on-ice w/ trigger): decode-time none-penalty, zero training. Babysit entry pruned. · pre-reg

er60k-endpoint-postprocess · gpu-box

er_60k endpoint postprocess (pre-reg posts/2026-08-09-prereg-molmo2-er-60k.md): box hits @60000 ~12:3xZ 08-11 -> chained panel_v2 k4l2 eval runs in-unit (–report + npz)

boundary: CLOSED 13:3xZ 08-11 work session (owning chained session rode endpoint + eval foreground): train hit @60000 12:36Z rc-clean (~153/155 GPU-h incl. chained eval); final async save published; chained panel_v2 k4l2 eval rc 13:28Z (4-way shard). THE ER DECISION READ: endpoint fast path 5.7782/1.9898 core (best banked trunk to date); vs 40k endpoint 6.0079 pooled -0.2297 [CI95 -0.281, -0.154] BELOW-BASELINE; vs 60k-cont 5.8602 pooled -0.0821 [CI95 -0.126, -0.025] BELOW-BASELINE CI excludes zero -> ER INIT WINS BOTH LEGS, the ER trunk is the new reference trunk. Rung trajectory vs 40k endpoint: 15k +1.52 / 35k +0.28 / 55k -0.18 / 60k -0.23. Aux endpoint n~8,987: holding 0.915 / progress 0.060 / event 0.858 / visible 0.822; pairing +0.055 (45%). Rig-data effect read NOT split-compatible (panel repo_id identity contains no owner-rig repos) — skipped per the pre-reg if-clause. Artifacts on fontaine-reports (curl 200), reports.md endpoint section, chart-led in-channel post + owner ping 13:32Z (init-delta chart attached); step_060000 weights-only on fontaine-checkpoints (42.0s, commit 4ed3dd0, uploaded mid-eval); babysit entry er_60k pruned. Results blog post (chart-led consolidated ER-screen close) deliberately rolled to the next session — owner has headline + report; the events one-off (owner 12:44Z) takes priority next. · pre-reg

er35k-aux-panel-eval · gpu-local

OWNER REQUEST 20:47:38Z 08-10 (35k -> hub + aux-enabled eval report on local GPU)

boundary: CLOSED 00:4xZ 08-11 work session: standard both-arms eval rc=0 00:41:21Z (~2.2/8 GPU-h total incl. aux arm). Class-matched reads (key bijou@35000, core 17,204): fast path 6.2892/2.3746; vs 40k endpoint 6.0079 pooled +0.2813 [CI95 +0.199, +0.337]; vs 60k-cont 5.8602 +0.4290 [+0.353, +0.467] — ABOVE-BASELINE at 58% training, the 15k gap (+1.52) ~82% closed; supersedes the aux-arm cross-class read as promised in-channel. Aux vs weak labels at full n~8,987, all four improved from 15k: holding 0.899->0.915, progress MAE 0.075->0.065, event 0.862->0.875, visible 0.704->0.823. Narration pairing measured at last: +fields costs +0.047 chunk (44% win) — matches the er15k class. Artifacts on fontaine-reports (curl 200 x2), reports.md standard-eval section supersedes, numbers in-channel, babysit entry pruned. Instrument-debt follow-up (retain main-policy generations under –generate) stays OPTIONAL, not queued. · pre-reg

er55k-panel-eval · gpu-local

OWNER REQUEST 09:41:04Z 08-11 (‘eval the 55000 step checkpoint that just landed on the box as before’): step_055000 -> hub (42.9s, commit 99a1ae2, weights-only) + local dl (13.7s) + STANDARD both-arms panel eval LIVE local H100 u…

boundary: CLOSED 12:1xZ 08-11 work session (owning chained session rode it foreground to rc): eval rc=0 12:00:11Z (~2.2/8 GPU-h). Class-matched reads (key bijou@55000, core 17,204): fast path 5.8269/2.0172; vs 40k endpoint 6.0079 pooled -0.1810 [CI95 -0.232, -0.105] BELOW-BASELINE — first below-baseline read for the ER trunk (@35000 was +0.281 above); vs 60k-cont 5.8602 -0.0334 [-0.078, +0.024] CI-SPANS-0 = parity at 92% training; state-copy byte-match x3. Aux n~8,987: holding 0.920 / progress MAE 0.060 / event 0.858 / visible 0.822 (holding+progress improved from 35k, event -0.017); narration pairing +0.039 chunk, 46% win (er15k/er35k class). Artifacts on fontaine-reports (curl 200 x3) + reports.md @55000 section + numbers in-channel 12:0xZ; babysit entry er55k_panel pruned. Record-only as pre-registered; the @60000 endpoint panel (~12:3xZ) is the ER decision read. · pre-reg

er-screen-results-post · cpu

ER screen close: chart-led consolidated results post (deliberately rolled from the 10:00Z 08-11 session that closed er_60k)

boundary: CLOSED 16:2xZ 08-11 work session: posts/2026-08-11-er-init-screen-results.md landed with plain-words opener + 3 house-style charts (probe overlay from the salvaged box train logs, panel rung trajectory, decision CIs) + aux-heads table across rungs; chart script fontaine/scripts/er60k_screen_close_charts.py reads only banked files (regenerable, no live hosts); all artifact links curl-verified; SUMMARY + posts index registered (index drift fixed: four 08-10 posts were missing from posts/index.md); check.py green; Space pushed + link in-channel same session. · pre-reg

rebase-fontaine-on-main-postreview · cpu

MAIN-AGENT DIRECTIVE (owner-relayed 14:34:48Z 08-11, message.txt attachment): rebase fontaine on main @36afff0 (owner-session correctness reviews of bijou/molmoact2 + bijou/molmo2 landed as code) and adapt

boundary: CLOSED 17:2xZ 08-11 work session (owner push 16:43Z seen mid-session, executed immediately): origin/main fetched fdd9aa3 -> 36afff0, git rebase origin/main CLEAN — zero conflicts (only both-sides file bijou/train.py: main’s wandb import move vs our parse_repeat_specs import; auto-merged + one ruff I001 fixup). All 7 directive items sentinel-verified at HEAD: released_so100_101 staticmethod, frozen no-default ActionExpertConfig, Gemma4Config.e2b()/.e4b() staticmethods, the 5 loud molmoact2 guards + tests (688 vs 683 pre-rebase), CPU-side patch alignment, main’s authoritative versions of molmoact2_ae_parity.py (explicit dropout=0.0) + molmoact2_ours_ft_rung_read.py (n_obs_steps truthiness) + the 2 posts, tokenizer FileNotFoundError, styleguide adds. check.py green 688; pushed –force-with-lease 2a31981. Result posted in-channel same session.

sim100-postprocess · cpu

100-seed sim eval postprocess (successor, executable on unit fontaine-sim100b rc=0 ~03:2xZ 08-12): (1) verify ALL PHASE2 ARMS DONE + rc=0 in ~/logs/sim100_eval.log; (2) frozen reads sim100_reads.py –in-dir outputs/sim/eval100 –…

boundary: CLOSED 03:4xZ 08-12 work session, all 6 steps: (1) rc=0 + ALL PHASE2 ARMS DONE verified 03:16:37Z; (2) frozen reads analysis__sim100_seed_eval.json (5 arms, gates green, ordering auto-skipped as pre-declared); (3) 4 house charts (engagement split NEW) + report__sim100_seed_eval.html + 14-clip gallery (best/median/worst per arm + 2 er60k reach-but-miss) -> fontaine-reports, curl 200 x5; (4) results post posts/2026-08-12-sim100-results.md (plain-words opener) + reports.md section + numbers in-channel; (5) babysit entry pruned; (6) sim-visual-matching named the lever + encoder-OOD-probe queued as its own item (owner 01:11Z ask). Per-arm numbers were posted in-channel as each arm landed (00:37Z ftrig4k, 01:30Z snap30k, 03:4xZ teacher80k) per the 23:41Z promise. wire-MolmoAct2-rig-ft-into-sim remains offered, not queued. · pre-reg

sim-policy-eval-100seeds · cpu

GOAL (owner 17:07Z 08-11): evaluate one good policy (candidate er_60k/step_060000, the reference trunk) in sim on 100 fixed seeds; primary metric = boat->disk distance reduction (continuous), success rate secondary

boundary: CLOSED 03:2xZ 08-12 work session — BOTH PHASES COMPLETE, rc=0 03:16:37Z (phase 2 ~3.5/4 GPU-h; total ~5.5). FINAL: 0/500 successes; gates green (strikes 0/500, hold floor -0.0). Per-arm mean progress / moved>=0.5cm: er60k -0.03 / 4 (96 untouched, reach-over-the-table fingerprint); snap30k -0.12 / 38; ftrig4k +0.08 / 47 (27 toward vs 20 away — the ONLY arm tilted toward the goal, best +3.64); teacher80k -0.73 / 56 (18 toward/38 away, the study’s only CI-excludes-zero reads: vs hold -0.73 [-1.18,-0.34], vs er60k -0.70 — the strongest offline policy is measurably worse than doing nothing). THE FINDING: contact tracks family/capability, DIRECTION tracks visual familiarity — checkpoint-quality explanation dead (teacher engages most), visual gap confirmed as the lever. Owner question 01:11Z answered in-channel 01:30Z (diagnostics + SIMPLER recipe). · pre-reg

sim-lit-review · cpu

Sim + sim-to-real literature review (CPU, OWNER DIRECTIVE 17:07Z 08-11

boundary: CLOSED 18:5xZ 08-11 work session: 3 Papers pages landed same-session (papers/sim-as-eval.md, papers/so101-sim-landscape.md, papers/sim-contact-fidelity.md) via 3 parallel research agents, all links fetch-verified. Headlines: (1) SIMPLER lineage = the protocol design citations (sysid+visual-matching MMRV 0.056/r 0.924; controller gains FIRST-order for eval fidelity, friction values second-order; continuous progress metrics separate policies at up to 70% fewer trials than binary success = owner’s distance metric vindicated; AutoEval 0/50-sim-vs-47/50-real caution: fidelity is per-policy-family; SureSim paired-rectification for when rig rollouts exist; 2026 head-to-head: simulator choice moves Spearman 0.400-0.700 on identical real evals). (2) Census: NO public SO-101 sim eval with continuous metric exists — 2026 SO-101 benchmarks all real-world; our substrate leads; steal LIBERO frozen init-states, so-frame REAL|SIM|OVERLAY; LeRobot EnvHub = later publication channel. (3) All 4 sim-review findings have documented mechanisms + named fixes (CoACD threshold-not-cap or native SDF — the SDF path also fixes the CC-BY-ND per-machine asset hazard; priority override is spec, fix = explicit contact pair + condim>=4 + elliptic cones + impratio~10; BAM ships identified STS3215 model). (4) NEW FINDING from asset diff: our menagerie model kp 998.22/forcerange ±2.94 vs TheRobotStudio upstream kp 17.8/±3.35 for the same servo — ±2.94 is exactly the review’s measured saturation; sysid question queued. ideas.md #16 fed; successor items sim-fixes-reset-contact + sim-servo-sysid queued.

sim-review · cpu

Sim review (CPU, OWNER DIRECTIVE 17:07Z 08-11 — next-day focus is simulations): review sim/ (so101_sim.py, rollout_sim.py, convert_benchy.py, demo_scene.py, view.py, probe_*.py, fetch_assets.sh)

boundary: CLOSED 18:1xZ 08-11 work session (commit f14948f): findings post posts/2026-08-11-sim-review-findings.md + two committed probes (sim/probe_benchy_contact.py, sim/probe_phantom_volume.py). Contract seam ALL GREEN (camera kinds: judge stamped rig ‘front’ as kind top so sim ‘top’ naming matches training tags; kind-sorted image order identical; SO_MOTORS order + degrees match; er_60k stats table has both rig repos; AR-greedy + B=1 => deterministic, measured bit-identical qpos AND renders; 26.9 ms/tick => ~20 min sim-side per 100-seed eval). FOUR FINDINGS, fixes NOT executed (findings-first): (1) home pose UNREACHABLE - camera_box2 (wrist-cam mount) jams into a shoulder geom, elbow/wrist_flex/wrist_roll pinned at +-2.94 force limit, elbow -19deg steady-state, wrist_roll bimodal (0 or ~15deg) per seed = seed-dependent start state; (2) 2/20 seeds the arm STRIKES the boat during the reset settle (zero-qpos start lays the arm over the workspace), up to 30.4 mm pre-episode displacement; (3) phantom collision margin median 0.34 / p99 3.78 / max 5.39 mm, 74% of collision surface outside the visible boat, CoACD concavity 0.149 at the 16-hull cap (vs 0.05 asked); (4) grasp seam: 2.5 mm penetration acceptable BUT gripper priority=1 overrides the benchy drift-fix friction => torsional 5e-3 at the seam, 6.9deg in-grip spin + tilt to upright 0.84 on lift; rest drift 0.000 mm (drift fix healthy). INFRA: menagerie commit UNPINNED in fetch_assets.sh + CoACD assets regenerated per machine => cross-machine trajectory repro NOT guaranteed (pin one eval machine in the protocol); EGL libs installed on this box (libegl1 + libnvidia-gl-580); success() docstring claims a gripper-open check the code lacks. Protocol implications written into the post’s final section.

rig-mixture-instrument-prereg · cpu

Rig-mixture lever, step 1 (CPU, executable now): implement the per-root –dataset-repeat flag + oracle test exactly as pinned in the er-60k pre-reg mixture note (loader dedups repeated roots today, so there is no zero-code oversa…

boundary: CLOSED 17:0xZ 08-11 work session, both legs: (1) INSTRUMENT landed commit 1b1c314 — –dataset-repeat PATTERN=COUNT in bijou.train/bijou.data (fnmatch per-repo specs, first-match-wins, spec matching no selected dataset is FATAL, replicas share objects so no host-RAM cost; training-only, eval call sites never repeat; TrainArgs field defaulted for old-checkpoint replay); oracle test tests/test_dataset_repeat.py (16 tests: parse/precedence/no-match/concat expansion + the pinned 0.19%->4.97%@27x mixture arithmetic); check.py green 683. (2) PRE-REG DRAFT posted posts/2026-08-11-prereg-er60k-rig-mixture.md: single arm –init-from er_60k/step_060000 (weights-only suffices, optimizer state died with the box), explicit specs clean=27 v2=27 (~4.97% share, no wildcard), 10k steps eff-48 seed 3 warmup 500, primary read = paired CI95 on the deterministic rig holdout (1+5 episodes ~3.7k frames er_60k never trained on) vs the endpoint, guard = panel non-regression band +0.05 vs banked 5.7782; COMPUTE ASK named: (A) new 4x box ~28 GPU-h/7h wall gate 32, (B) local 1xH100 needs act-ckpt fit-preflight (full recipe measured OOM single-GPU 08-08), (C) defer. HOLDING for owner steering — successor item rig-mixture-screen-exec carries the hold. · pre-reg

ftrig-eval20-flipped-parallel · gpu-local

OWNER PRIO (15:27Z 08-12): re-run the ftrig 20 episodes on flipped-mount physics (d5cf9fd) with parallel workers for speed

boundary: CLOSED 16:4xZ 08-12 work session, ridden end-to-end incl. an owner-caught CORRECTION (~0.36/0.5 GPU-h total): pre-reg + results + correction in posts/2026-08-12-prereg-ftrig-eval20-flipped-parallel.md. First readout (paired ~null, 18/20 bit-identical) measured only the collision-box half: owner spotted 16:07Z that videos showed the bracket unmoved -> root cause MuJoCo geom_sameframe fast path silently ignoring runtime geom_pos/quat edits on the visual mesh (flag 2) -> one-line fix (clear the flag, so101_sim.py) + postflip arm rerun. TRUE flip effect: 13/20 seeds changed (policy is vision-driven, bracket visible in top cam); 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] (n=20 rough, crosses zero); character shift toward freezing over shoving. Physics-side claims (control loss -62%, sweep) box-driven, stand. LESSON REGISTERED: any runtime geom_pos/quat edit must clear geom_sameframe. Also banked: lockstep-parallel bit-reproducibility; parallel-vs-seq outcome drift (11/20 >0.1 cm, max 6.0). OWNER EXTENSION 16:37Z executed same session: step-500 checkpoint converted fresh (bijou.convert_molmoact2 -> outputs/converted/molmoact2_rig_r1_step500) + same 20 seeds on the fixed sim: mean +0.02 vs step2000’s -0.46 cm, paired +0.48 CI95 [-0.06,+1.13], 9 better/3 worse/8 tied, knock-aways 1 vs 2, best s0 +1.59 - extra 1500 ft steps buy no sim-side competence (overfit-to-rig-appearance consistent). Day total ~0.45/0.5 GPU-h, 5 arms. Rows + 80 videos + stills on fontaine-reports /ftrig_eval20_flip_parallel/ (curl 200); full exchange in-channel 16:02-16:5xZ. · pre-reg

merge-main-phase5c · cpu

Merge main phase 5c (f32ae89, ‘rollout + GRPO + sim on the VLA traits (phase-5 laptop close)’, +401/-203 across 16 files: bijou/rollout.py, bijou/modelling/gemma4/loading.py, sim/rollout_sim.py + rollout_sim_parallel.py + convmap…

boundary: Queued 18:2xZ 08-15 tick on seeing f32ae89 on origin/main (‘phase-5 laptop close’ - final phase-5 drop). CPU-only, no GPU touch (owner reserve stands). Urgent same as 5a/5b: owner arm/route decision may land any time and launch + eval + GRPO paths must be green against the full phase-5 close first; upstream touched three of our own fontaine/scripts, so a diff-audit of those files is part of the merge. || DONE 18:3xZ 08-15 work session (18:22 boot): merged clean (no conflicts, ‘ort’), check.py 925 green (+1 test vs 5b, new phase-5c coverage). Seams re-verified: (1) GRPO seam green - tests/test_grpo_loop.py + test_molmo_flow_integration.py 33/33 targeted (grpo_replay.py 247-line rework covered; route B / R2-A2 decision path clear); (2) sim oracles CPU-tier: diff-audit of upstream edits to our three fontaine/scripts = pure API migration (–expert-dtype -> –flow-decoder-dtype; read_checkpoint_info().normalization -> bijou.checkpoint.read_metadata().stats; er60k_events_report moved to family-narrowed policy.vla / Molmo2ARVLA.ar_decoder+backbone with retain_cache encode) - no semantic drift, all three import green, sim_parallel_oracle –help surface matches both sim drivers’ –flow-decoder-dtype, CPU twin suite test_sim_parallel_rollouts 6/6, read_metadata().stats loads all three converted artifacts (q01/q99 present); full GPU oracle runs (tripwires + parallel-vs-seq, ~15-20 min) deferred to the next free-GPU boundary - owner reserve stands; (3) gradflow loss oracles EXACT post-merge: flow 1.6948 + ar_backbone 27.8546, all partition checks PASS; (4) both retrain arms full-parse green, frozen section-3 verbatim (family checkpoint-inferred molmoact2_flow); (5) parents[2] fix STILL NOT upstream (main ships parents[2] in modelling/molmo2/bank_processor_goldens.py) - our parents[3] carry survived the merge, cherry-pick note stands; (6) rollout CLI surface: –expert-dtype renamed –flow-decoder-dtype in bijou.rollout + docs/rollout_so101.md (same cast, same default; 8GB-laptop guidance re-stated under the new name), –offload-ple now gemma_ar-only (refuses loudly elsewhere), –generate help re-worded for narrating checkpoints - rig rollout path intact, rename only. Pre-reg section-9 amendment added (posts/2026-08-15-prereg-grasp-sft-retrain-corrected-table.md). Launch remains owner-gated (arm pick + route A/B/C + GPU release).

side-spawn-feasibility-probe · cpu

Side-spawn (capsized boat) feasibility probe (owner ask 12:18:57Z 08-16 ‘place the boat on the side’; accepted-with-design 12:19:52Z): unrendered CPU expert runs on side/rolled spawns (drop+settle reset extension)

boundary: CLOSED 15:4xZ 08-16 work session: probe EXECUTED all 3 phases n=120 (commit a8973dd, report prereg §8): side rest stable 120/120; stock expert 0/120 (but pinch+carry works - 35% end within disk radius still lying); push-righting prototype 0/120 across 6 execution variants - boat SLIDES 6-7cm, peak upright 0.12, quasistatic push can’t beat friction+rounded hull = measured NO-GO. Side spawns OUT of v1.1; next attempt = dynamic flick / wedge-lift / friction mat, each a new probe. Tool geometry banked: pad-space floor z~0.077, gripperframe site = jaw tip.

demo-gen-sharded-a100 · gpu-a100

P1 EXECUTE (allocation landed 12:26:52Z 08-16: ‘machine is all yours’

boundary: LIVE demo-gen-v1c on 147.224.218.164 since 14:25:12Z 08-16: 96 shards x 8 GPUs, v2.1 + mix70 + retreat tail, target 5000 kept, seeds 10000+ stride 2000, ~2.5-3.5h ETA. On DONE (driver exit in logs/driver.log): merge (sim.merge_demo_shards –root ~/datasets/fontaine/grasp_demos_v1 –out …/merged), then upload_demo_dataset.py –repo mcobzarenco/fontaine-grasp-demos-v1 (public), then card post. babysit entry demo_gen_v1 registered. || CLOSED 16:4xZ 08-16 work session, boundary EXECUTED same-session: driver DONE 16:32Z 5000/5000 kept (10,883 attempted 45.9% vs 48.3% anchor, 0 failed shards, 2h07m wall ~16.9/80 GPU-h); merge 96 shards -> 5000 eps / 1,506,208 frames / 26 GiB (quantiles rewritten exact, provenance united); upload dry-run then PUBLIC push to mcobzarenco/fontaine-grasp-demos-v1 (API-verified private=false, page 200); card + LeRobot visualizer link in-channel 16:41Z + wall-clock correction 16:43Z. Box GPUs idle; SFT staged (command in-channel 16:39Z), blank = owner stats-corrected conversion. · pre-reg

utilization-ledger-rebase · cpu

Rebase the now.md utilization footer’s trailing-7-day GPU-hours figure: the baseline is dated 2026-08-06 23:3xZ (11 days stale) and the ‘since then’ narrative accretes per-run fragments instead of a number

boundary: DONE 19:3xZ 08-17 work session: trailing-7-day figure recomputed per-run over the 08-10 00:00Z -> 08-17 19:45Z window (babysit prune records authoritative for detached runs; archive session notes for foreground spends; window-crossers pro-rated at the 08-10 edge from their own babysit accrual readings). Result: local ~80.0/~80.2 (discriminator ~1.0 accruing at stamp), box ~250/~254 FINAL at the box kill. Footer baseline rewritten to the fresh stamp + 2-note form; superseded 08-06 baseline rolled verbatim to archive/now-2026-08-17.md; receipts fontaine/notes/utilization-rebase-2026-08-17.md; instrument fontaine/scripts/util_ledger_extract.py (rerunnable at the next rebase).