{
  "robot": "Franka FR3 / Panda hand",
  "method": "Warp rollout finite-difference Adam over positive real2sim parameters",
  "device": "cpu",
  "steps": 260,
  "dt": 0.008333333767950535,
  "iterations": 500,
  "noise_std": 0.0015,
  "joint_labels": [
    "fr3/fixed_base",
    "fr3/fr3_base_joint",
    "fr3/fr3_joint1",
    "fr3/fr3_joint2",
    "fr3/fr3_joint3",
    "fr3/fr3_joint4",
    "fr3/fr3_joint5"
  ],
  "newton_model_summary": {
    "arm_dof_count": 7,
    "total_robot_mass": 18.60400390625,
    "parameter_fields": [
      "body_mass",
      "body_inertia",
      "joint_armature",
      "joint_friction"
    ]
  },
  "truth": {
    "payload_mass": 1.350000023841858,
    "friction_scale": 1.649999976158142,
    "armature_scale": 0.7200000286102295
  },
  "initial": {
    "payload_mass": 0.44999998807907104,
    "friction_scale": 0.6499999761581421,
    "armature_scale": 1.7999999523162842
  },
  "estimate": {
    "payload_mass": 1.2651861906051636,
    "friction_scale": 1.64055597782135,
    "armature_scale": 0.7909185290336609
  },
  "relative_errors": {
    "payload_mass": 0.06282506054728013,
    "friction_scale": 0.005723635438335815,
    "armature_scale": 0.0984979133408104
  },
  "final_loss": 0.00013961672084406018,
  "loss_history": [
    3.1612231731414795,
    2.8323612213134766,
    2.5254406929016113,
    2.240617275238037,
    1.9779247045516968,
    1.7372968196868896,
    1.51852285861969,
    1.3212344646453857,
    1.1449267864227295,
    0.9889124035835266,
    0.8523659706115723,
    0.7342883348464966,
    0.633551836013794,
    0.5488865375518799,
    0.47892332077026367,
    0.4222151041030884,
    0.3772692382335663,
    0.3425832986831665,
    0.316667765378952,
    0.29808536171913147,
    0.28547826409339905,
    0.27758312225341797,
    0.2732532024383545,
    0.27146631479263306,
    0.2713327407836914,
    0.27209705114364624,
    0.2731339633464813,
    0.2739452123641968,
    0.27414754033088684,
    0.27347397804260254,
    0.2717456519603729,
    0.2688749432563782,
    0.2648407518863678,
    0.2596862316131592,
    0.2534981667995453,
    0.2464015930891037,
    0.23854464292526245,
    0.23008933663368225,
    0.22120702266693115,
    0.21206651628017426,
    0.20283082127571106,
    0.19364728033542633,
    0.18464821577072144,
    0.175947904586792,
    0.16763614118099213,
    0.1597825288772583,
    0.1524330973625183,
    0.14561235904693604,
    0.13932651281356812,
    0.13356158137321472,
    0.1282922923564911,
    0.12347719073295593,
    0.1190696507692337,
    0.11501747369766235,
    0.11126543581485748,
    0.10775882005691528,
    0.10444699227809906,
    0.10128499567508698,
    0.09823304414749146,
    0.09526040405035019,
    0.09234452992677689,
    0.08946897834539413,
    0.08662732690572739,
    0.08381752669811249,
    0.08104360103607178,
    0.07831481099128723,
    0.07564178109169006,
    0.07303633540868759,
    0.07051164656877518,
    0.06807944178581238,
    0.06574901938438416,
    0.06352926045656204,
    0.06142313405871391,
    0.059433840215206146,
    0.05755901709198952,
    0.055795930325984955,
    0.05413872003555298,
    0.05257939547300339,
    0.05111003667116165,
    0.04972105100750923,
    0.04840318486094475,
    0.047147709876298904,
    0.04594629630446434,
    0.044792573899030685,
    0.04368050768971443,
    0.04260560870170593,
    0.041565198451280594,
    0.04055691510438919,
    0.03958040475845337,
    0.038635168224573135,
    0.03772202506661415,
    0.03684159368276596,
    0.035994935780763626,
    0.03518275171518326,
    0.0344059094786644,
    0.03366395831108093,
    0.032957226037979126,
    0.03228484094142914,
    0.03164544329047203,
    0.03103787824511528,
    0.030460434034466743,
    0.029911121353507042,
    0.02938772179186344,
    0.028888601809740067,
    0.028412185609340668,
    0.027956118807196617,
    0.027519430965185165,
    0.027100736275315285,
    0.026698872447013855,
    0.02631371095776558,
    0.025944072753190994,
    0.025589818134903908,
    0.02525024488568306,
    0.024925287812948227,
    0.02461434341967106,
    0.024317443370819092,
    0.024033550173044205,
    0.023762552067637444,
    0.023504026234149933,
    0.023257212713360786,
    0.023021485656499863,
    0.022796129807829857,
    0.02258056029677391,
    0.02237427420914173,
    0.022176522761583328,
    0.02198677696287632,
    0.021804675459861755,
    0.021629855036735535,
    0.02146165817975998,
    0.02130017802119255,
    0.02114493027329445,
    0.02099551633000374,
    0.02085203118622303,
    0.02071402780711651,
    0.02058137021958828,
    0.020453795790672302,
    0.020331120118498802,
    0.02021292969584465,
    0.020099138841032982,
    0.019989490509033203,
    0.019883565604686737,
    0.01978156901896,
    0.019682858139276505,
    0.019587261602282524,
    0.019494732841849327,
    0.019405167549848557,
    0.019318049773573875,
    0.01923348195850849,
    0.019151311367750168,
    0.019071267917752266,
    0.018993619829416275,
    0.01891772449016571,
    0.018843768164515495,
    0.01877165399491787,
    0.01870100200176239,
    0.018631767481565475,
    0.018564116209745407,
    0.0184977687895298,
    0.018432386219501495,
    0.018368316814303398,
    0.018305130302906036,
    0.018242932856082916,
    0.018181322142481804,
    0.018120797351002693,
    0.018060648813843727,
    0.01800123229622841,
    0.017942262813448906,
    0.017883755266666412,
    0.017825737595558167,
    0.01776779070496559,
    0.017710227519273758,
    0.017652828246355057,
    0.017595700919628143,
    0.017538491636514664,
    0.01748131960630417,
    0.017424242570996284,
    0.01736685074865818,
    0.01730955019593239,
    0.017251942306756973,
    0.017194300889968872,
    0.017136305570602417,
    0.017077982425689697,
    0.017019513994455338,
    0.016960499808192253,
    0.016901185736060143,
    0.016841432079672813,
    0.01678120717406273,
    0.016720492392778397,
    0.016659319400787354,
    0.016597488895058632,
    0.016535039991140366,
    0.01647208444774151,
    0.01640821062028408,
    0.016343872994184494,
    0.016278909519314766,
    0.016213219612836838,
    0.016146710142493248,
    0.016079340130090714,
    0.01601126790046692,
    0.015942294150590897,
    0.015872403979301453,
    0.01580166071653366,
    0.015730131417512894,
    0.01565747708082199,
    0.015584182925522327,
    0.015509833581745625,
    0.015434416010975838,
    0.01535800565034151,
    0.015280808322131634,
    0.015202578157186508,
    0.01512322947382927,
    0.01504285167902708,
    0.014961466193199158,
    0.014879210852086544,
    0.01479569636285305,
    0.014711201190948486,
    0.01462553534656763,
    0.014538899064064026,
    0.014451295137405396,
    0.014362478628754616,
    0.014272746630012989,
    0.014181744307279587,
    0.014089850708842278,
    0.013996953144669533,
    0.013902963139116764,
    0.01380795519798994,
    0.013711810111999512,
    0.013614600524306297,
    0.013516471721231937,
    0.01341735664755106,
    0.013317177072167397,
    0.013215972110629082,
    0.013113920576870441,
    0.013010804541409016,
    0.012906847521662712,
    0.012802124954760075,
    0.012696394696831703,
    0.01258996780961752,
    0.01248254906386137,
    0.01237426232546568,
    0.012265180237591267,
    0.012155384756624699,
    0.01204498391598463,
    0.011933773756027222,
    0.011821764521300793,
    0.01170930452644825,
    0.011596154421567917,
    0.011482538655400276,
    0.01136854663491249,
    0.011254170909523964,
    0.011139338836073875,
    0.011024430394172668,
    0.010909061878919601,
    0.010793589055538177,
    0.010677801445126534,
    0.010561827570199966,
    0.010446080006659031,
    0.010330223478376865,
    0.010214329697191715,
    0.010098644532263279,
    0.009983099065721035,
    0.009867772459983826,
    0.009752601385116577,
    0.009637696668505669,
    0.0095231793820858,
    0.009409106336534023,
    0.009295380674302578,
    0.00918214675039053,
    0.009069453924894333,
    0.008957140147686005,
    0.008845413103699684,
    0.008734362199902534,
    0.00862381886690855,
    0.008513959124684334,
    0.0084048667922616,
    0.008296286687254906,
    0.008188415318727493,
    0.008081402629613876,
    0.007975004613399506,
    0.007869296707212925,
    0.007764528505504131,
    0.007660330273211002,
    0.007556963711977005,
    0.0074544367380440235,
    0.007352705579251051,
    0.007251742295920849,
    0.0071516456082463264,
    0.007052331231534481,
    0.00695374608039856,
    0.006856136489659548,
    0.006759512238204479,
    0.00666353153064847,
    0.006568491458892822,
    0.00647431705147028,
    0.006381072103977203,
    0.006288628093898296,
    0.006197203416377306,
    0.0061065820045769215,
    0.006016984581947327,
    0.0059280963614583015,
    0.005840295925736427,
    0.005753359291702509,
    0.005667435936629772,
    0.005582496523857117,
    0.005498439539223909,
    0.005415318068116903,
    0.005333263892680407,
    0.0052520777098834515,
    0.005171917844563723,
    0.0050927638076245785,
    0.005014512222260237,
    0.004937333520501852,
    0.004860978573560715,
    0.004785718396306038,
    0.004711340181529522,
    0.004637992475181818,
    0.004565570969134569,
    0.004494088236242533,
    0.004423515405505896,
    0.004353984724730253,
    0.004285277798771858,
    0.00421761441975832,
    0.004150806926190853,
    0.004084990359842777,
    0.0040200455114245415,
    0.003955945372581482,
    0.003892844542860985,
    0.003830492729321122,
    0.0037690987810492516,
    0.003708538133651018,
    0.00364884827286005,
    0.0035900240764021873,
    0.003532072063535452,
    0.0034749179612845182,
    0.0034185515251010656,
    0.0033630356192588806,
    0.003308287588879466,
    0.003254392184317112,
    0.003201271640136838,
    0.003148887772113085,
    0.0030972803942859173,
    0.0030464502051472664,
    0.0029963732231408358,
    0.0029469970613718033,
    0.0028983375523239374,
    0.002850454533472657,
    0.0028032755944877863,
    0.0027567839715629816,
    0.002711018081754446,
    0.002665915060788393,
    0.0026214485988020897,
    0.0025776666589081287,
    0.002534537808969617,
    0.002492113271728158,
    0.0024503248278051615,
    0.0024091387167572975,
    0.002368614310398698,
    0.0023287374060600996,
    0.002289395546540618,
    0.0022506634704768658,
    0.002212511608377099,
    0.0021750349551439285,
    0.002138051437214017,
    0.0021016504615545273,
    0.002065834356471896,
    0.002030597534030676,
    0.0019959392957389355,
    0.0019617779180407524,
    0.0019281402928754687,
    0.0018950459780171514,
    0.0018624903168529272,
    0.0018304691184312105,
    0.0017988719046115875,
    0.0017678330186754465,
    0.0017372581642121077,
    0.0017071433831006289,
    0.00167752371635288,
    0.0016483457293361425,
    0.0016196855576708913,
    0.0015914497198536992,
    0.001563659287057817,
    0.0015363263664767146,
    0.0015093677211552858,
    0.0014828912680968642,
    0.0014568264596164227,
    0.0014311395352706313,
    0.0014059181557968259,
    0.0013810512609779835,
    0.001356608117930591,
    0.0013325384352356195,
    0.0013088695704936981,
    0.001285554375499487,
    0.0012626232346519828,
    0.0012400842970237136,
    0.001217924291267991,
    0.0011960925767198205,
    0.0011746058007702231,
    0.0011535115772858262,
    0.0011327120009809732,
    0.001112234080210328,
    0.0010921485954895616,
    0.0010723575251176953,
    0.0010528761195018888,
    0.0010337287094444036,
    0.0010148717556148767,
    0.0009963538032025099,
    0.000978154013864696,
    0.0009601848432794213,
    0.0009425714379176497,
    0.0009252065792679787,
    0.0009081868338398635,
    0.0008913609781302512,
    0.000874871970154345,
    0.0008586167241446674,
    0.0008426610147580504,
    0.0008269535610452294,
    0.0008115105447359383,
    0.000796340755186975,
    0.0007813896518200636,
    0.0007667113095521927,
    0.0007523043313995004,
    0.0007380948518402874,
    0.0007241258281283081,
    0.0007104201358743012,
    0.00069694739067927,
    0.0006836742395535111,
    0.0006706332205794752,
    0.000657821714412421,
    0.0006452307570725679,
    0.0006328468443825841,
    0.0006206695688888431,
    0.0006087013171054423,
    0.0005969302728772163,
    0.0005853765760548413,
    0.0005740216001868248,
    0.0005628445069305599,
    0.0005518667749129236,
    0.0005410790909081697,
    0.0005304638762027025,
    0.0005200437735766172,
    0.0005098056280985475,
    0.0004997564246878028,
    0.0004898961633443832,
    0.0004801665781997144,
    0.0004706423496827483,
    0.0004612567136064172,
    0.000452039937954396,
    0.00044299030560068786,
    0.00043410895159468055,
    0.00042538775596767664,
    0.0004168155719526112,
    0.00040837741107679904,
    0.0004000937333330512,
    0.0003919747832696885,
    0.0003839934943243861,
    0.00037612346932291985,
    0.0003684381954371929,
    0.0003608932893257588,
    0.00035344401840120554,
    0.0003461592714302242,
    0.00033902074210345745,
    0.00033196451840922236,
    0.00032506146817468107,
    0.00031829532235860825,
    0.0003116401203442365,
    0.00030510121723636985,
    0.0002986959007102996,
    0.00029239326249808073,
    0.0002862066321540624,
    0.00028014121926389635,
    0.000274190038908273,
    0.0002683491329662502,
    0.00026260362938046455,
    0.0002569661883171648,
    0.00025144885876215994,
    0.0002460269897710532,
    0.00024072117230389267,
    0.0002354786265641451,
    0.00023035763297230005,
    0.00022532643924932927,
    0.00022040712065063417,
    0.00021558234584517777,
    0.0002108317712554708,
    0.00020617038535419852,
    0.00020159766427241266,
    0.00019712655921466649,
    0.00019274931401014328,
    0.0001884333905763924,
    0.00018421873392071575,
    0.00018007213657256216,
    0.00017602067964617163,
    0.00017203461902681738,
    0.00016813776164781302,
    0.00016431178664788604,
    0.00016057302127592266,
    0.00015691047883592546,
    0.00015330185124184936,
    0.00014977643149904907,
    0.0001463121734559536,
    0.0001429305411875248
  ],
  "parameter_history": [
    {
      "iteration": 0,
      "payload_mass": 0.44999998807907104,
      "friction_scale": 0.6499999761581421,
      "armature_scale": 1.7999999523162842
    },
    {
      "iteration": 25,
      "payload_mass": 0.6320232152938843,
      "friction_scale": 1.19351327419281,
      "armature_scale": 3.0937623977661133
    },
    {
      "iteration": 50,
      "payload_mass": 0.35123488306999207,
      "friction_scale": 1.306241750717163,
      "armature_scale": 2.546445846557617
    },
    {
      "iteration": 75,
      "payload_mass": 0.25155311822891235,
      "friction_scale": 1.4097875356674194,
      "armature_scale": 2.077122449874878
    },
    {
      "iteration": 100,
      "payload_mass": 0.21858862042427063,
      "friction_scale": 1.483496904373169,
      "armature_scale": 1.8042463064193726
    },
    {
      "iteration": 125,
      "payload_mass": 0.21142929792404175,
      "friction_scale": 1.5233206748962402,
      "armature_scale": 1.6395783424377441
    },
    {
      "iteration": 150,
      "payload_mass": 0.22092947363853455,
      "friction_scale": 1.543498158454895,
      "armature_scale": 1.541224718093872
    },
    {
      "iteration": 175,
      "payload_mass": 0.24646972119808197,
      "friction_scale": 1.5558019876480103,
      "armature_scale": 1.4804563522338867
    },
    {
      "iteration": 200,
      "payload_mass": 0.29249003529548645,
      "friction_scale": 1.56269371509552,
      "armature_scale": 1.4370331764221191
    },
    {
      "iteration": 225,
      "payload_mass": 0.36881008744239807,
      "friction_scale": 1.5669654607772827,
      "armature_scale": 1.3962198495864868
    },
    {
      "iteration": 250,
      "payload_mass": 0.4867783486843109,
      "friction_scale": 1.570900321006775,
      "armature_scale": 1.34498131275177
    },
    {
      "iteration": 275,
      "payload_mass": 0.6387903094291687,
      "friction_scale": 1.5769128799438477,
      "armature_scale": 1.273940920829773
    },
    {
      "iteration": 300,
      "payload_mass": 0.7751471400260925,
      "friction_scale": 1.587087869644165,
      "armature_scale": 1.187493920326233
    },
    {
      "iteration": 325,
      "payload_mass": 0.8818261623382568,
      "friction_scale": 1.5983868837356567,
      "armature_scale": 1.1040148735046387
    },
    {
      "iteration": 350,
      "payload_mass": 0.973239541053772,
      "friction_scale": 1.6080330610275269,
      "armature_scale": 1.032025694847107
    },
    {
      "iteration": 375,
      "payload_mass": 1.0475425720214844,
      "friction_scale": 1.6162852048873901,
      "armature_scale": 0.9712497591972351
    },
    {
      "iteration": 400,
      "payload_mass": 1.10919988155365,
      "friction_scale": 1.623136281967163,
      "armature_scale": 0.9205521941184998
    },
    {
      "iteration": 425,
      "payload_mass": 1.1602333784103394,
      "friction_scale": 1.6288187503814697,
      "armature_scale": 0.8783600926399231
    },
    {
      "iteration": 450,
      "payload_mass": 1.2022470235824585,
      "friction_scale": 1.6335289478302002,
      "armature_scale": 0.8433776497840881
    },
    {
      "iteration": 475,
      "payload_mass": 1.2369023561477661,
      "friction_scale": 1.6373976469039917,
      "armature_scale": 0.8145309686660767
    },
    {
      "iteration": 499,
      "payload_mass": 1.2641661167144775,
      "friction_scale": 1.6404428482055664,
      "armature_scale": 0.791771650314331
    }
  ]
}