Understanding granular materials aging poses a substantial challenge: Grain contacts form networks with complex topologies, and granular flow is far from equilibrium. In this letter, we experimentally measure a three-dimensional granular systems reversibility and aging under cyclic compression. We image the grains using a refractive-index-matched fluid, then analyze the images using the artificial intelligence of variational autoencoders. These techniques allow us to track all the grains translations and three-dimensional rotations with accuracy sufficient to infer contact-point sliding and rolling. Our observations reveal unique roles played by three-dimensional rotations in granular flow, aging, and energy dissipation. First, we find that granular rotations dominate the bulk dynamics, penetrating more deeply into the granular material than translations do. Second, sliding and rolling do not exhibit aging across the experiment, unlike translations. Third, aging appears not to minimize energy dissipation, according to our experimental measurements of rotations, combined with soft-sphere simulations. The experimental tools, analytical techniques, and observations that we introduce expose all the degrees of freedom of the far-from-equilibrium dynamics of granular flow.
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