Loading dataset: /data/cameron/mac_robot_datasets/first_mobile_collection (whitelist=['desk_collect_1']) n_window=50 Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) desk_collect_1: 594 frames loaded Rotation: 1D PCA mode, basis=/data/cameron/para/libero/rotation_pca_basis_desk_collect_1.npz (EV ratio 0.532) Smith300DA3VolumeDataset ready: 11 eps, 594 frames, 583 samples, rgb=1.81 GB, depth=0.60 GB Height range observed: [0.0458, 0.1803] → padded [0.0391, 0.1870], 32 bins of ~4.6mm each Z-bin occupancy: min=0, max=46, empty_bins=2 Dataset rotation_mode=1d_pca Train: 554 Val: 29 Building model... Trainable: 30,363,872 Resuming DINO weights from /data/cameron/para/libero/checkpoints/dino_query_izzy3_t50_pca1d_v0/latest.pth loaded=258 keys (expect ~DINO trunk), missing=0, unexpected=0 Epoch 0: val_v=6.578 val_pix=38.0px val_grip_acc=0.431 val_rot_acc=0.184 Epoch 1: val_v=5.197 val_pix=28.5px val_grip_acc=0.461 val_rot_acc=0.468 Epoch 2: val_v=4.755 val_pix=27.6px val_grip_acc=0.496 val_rot_acc=0.485 Epoch 3: val_v=4.623 val_pix=21.4px val_grip_acc=0.508 val_rot_acc=0.480 Epoch 4: val_v=4.555 val_pix=22.4px val_grip_acc=0.521 val_rot_acc=0.517 Epoch 5: val_v=4.196 val_pix=19.3px val_grip_acc=0.539 val_rot_acc=0.517 Epoch 6: val_v=4.191 val_pix=19.1px val_grip_acc=0.551 val_rot_acc=0.525 Epoch 7: val_v=4.184 val_pix=19.7px val_grip_acc=0.555 val_rot_acc=0.548 Epoch 8: val_v=4.193 val_pix=18.5px val_grip_acc=0.581 val_rot_acc=0.564 Epoch 9: val_v=4.127 val_pix=18.0px val_grip_acc=0.590 val_rot_acc=0.599 Epoch 10: val_v=4.133 val_pix=18.1px val_grip_acc=0.621 val_rot_acc=0.628 Epoch 11: val_v=4.326 val_pix=19.2px val_grip_acc=0.637 val_rot_acc=0.628 Epoch 12: val_v=4.134 val_pix=17.5px val_grip_acc=0.650 val_rot_acc=0.665 Epoch 13: val_v=3.904 val_pix=16.9px val_grip_acc=0.658 val_rot_acc=0.681 Epoch 14: val_v=4.037 val_pix=18.1px val_grip_acc=0.663 val_rot_acc=0.697 Epoch 15: val_v=4.063 val_pix=17.1px val_grip_acc=0.657 val_rot_acc=0.714 Epoch 16: val_v=4.225 val_pix=17.8px val_grip_acc=0.658 val_rot_acc=0.693 Epoch 17: val_v=3.919 val_pix=16.8px val_grip_acc=0.665 val_rot_acc=0.720 Epoch 18: val_v=4.198 val_pix=17.4px val_grip_acc=0.670 val_rot_acc=0.699 Epoch 19: val_v=4.197 val_pix=16.2px val_grip_acc=0.665 val_rot_acc=0.720 Epoch 20: val_v=3.927 val_pix=16.2px val_grip_acc=0.668 val_rot_acc=0.727 Epoch 21: val_v=4.192 val_pix=16.6px val_grip_acc=0.671 val_rot_acc=0.711 Epoch 22: val_v=4.409 val_pix=16.9px val_grip_acc=0.657 val_rot_acc=0.705 Epoch 23: val_v=4.073 val_pix=16.3px val_grip_acc=0.673 val_rot_acc=0.715 Epoch 24: val_v=4.346 val_pix=16.9px val_grip_acc=0.679 val_rot_acc=0.704 Epoch 25: val_v=4.027 val_pix=15.8px val_grip_acc=0.673 val_rot_acc=0.738 Epoch 26: val_v=4.367 val_pix=17.3px val_grip_acc=0.671 val_rot_acc=0.718 Epoch 27: val_v=3.860 val_pix=14.9px val_grip_acc=0.687 val_rot_acc=0.721 Epoch 28: val_v=4.275 val_pix=16.4px val_grip_acc=0.668 val_rot_acc=0.738 Epoch 29: val_v=4.804 val_pix=17.2px val_grip_acc=0.662 val_rot_acc=0.722 Epoch 30: val_v=3.792 val_pix=15.0px val_grip_acc=0.692 val_rot_acc=0.734 Epoch 31: val_v=4.308 val_pix=15.3px val_grip_acc=0.681 val_rot_acc=0.732 Epoch 32: val_v=4.817 val_pix=16.3px val_grip_acc=0.680 val_rot_acc=0.730 Epoch 33: val_v=4.504 val_pix=16.4px val_grip_acc=0.686 val_rot_acc=0.729 Epoch 34: val_v=4.017 val_pix=14.7px val_grip_acc=0.691 val_rot_acc=0.745 Epoch 35: val_v=4.390 val_pix=16.1px val_grip_acc=0.682 val_rot_acc=0.736 Epoch 36: val_v=4.242 val_pix=15.2px val_grip_acc=0.687 val_rot_acc=0.745 Epoch 37: val_v=4.457 val_pix=16.3px val_grip_acc=0.686 val_rot_acc=0.747 Epoch 38: val_v=4.451 val_pix=15.9px val_grip_acc=0.690 val_rot_acc=0.750 Epoch 39: val_v=4.010 val_pix=14.9px val_grip_acc=0.690 val_rot_acc=0.752 Epoch 40: val_v=4.121 val_pix=15.1px val_grip_acc=0.702 val_rot_acc=0.750 Epoch 41: val_v=3.945 val_pix=14.8px val_grip_acc=0.698 val_rot_acc=0.759 Epoch 42: val_v=4.547 val_pix=15.2px val_grip_acc=0.682 val_rot_acc=0.744 Epoch 43: val_v=4.346 val_pix=15.2px val_grip_acc=0.686 val_rot_acc=0.750 Epoch 44: val_v=4.401 val_pix=15.6px val_grip_acc=0.690 val_rot_acc=0.748 Epoch 45: val_v=4.441 val_pix=15.3px val_grip_acc=0.687 val_rot_acc=0.751 Epoch 46: val_v=4.563 val_pix=14.9px val_grip_acc=0.693 val_rot_acc=0.758 Epoch 47: val_v=4.225 val_pix=14.8px val_grip_acc=0.688 val_rot_acc=0.751 Epoch 48: val_v=4.448 val_pix=15.2px val_grip_acc=0.698 val_rot_acc=0.771 Epoch 49: val_v=4.541 val_pix=15.7px val_grip_acc=0.702 val_rot_acc=0.759 Epoch 50: val_v=4.374 val_pix=14.7px val_grip_acc=0.696 val_rot_acc=0.761 Epoch 51: val_v=4.703 val_pix=15.3px val_grip_acc=0.692 val_rot_acc=0.761 Epoch 52: val_v=4.603 val_pix=14.9px val_grip_acc=0.694 val_rot_acc=0.762 Epoch 53: val_v=4.756 val_pix=14.9px val_grip_acc=0.699 val_rot_acc=0.767 Epoch 54: val_v=4.658 val_pix=15.0px val_grip_acc=0.697 val_rot_acc=0.774 Epoch 55: val_v=4.674 val_pix=15.3px val_grip_acc=0.696 val_rot_acc=0.774 Epoch 56: val_v=4.515 val_pix=14.8px val_grip_acc=0.692 val_rot_acc=0.770 Epoch 57: val_v=4.234 val_pix=14.4px val_grip_acc=0.704 val_rot_acc=0.786 Epoch 58: val_v=4.520 val_pix=14.8px val_grip_acc=0.697 val_rot_acc=0.776 Epoch 59: val_v=4.950 val_pix=15.7px val_grip_acc=0.700 val_rot_acc=0.783 Epoch 60: val_v=4.676 val_pix=15.0px val_grip_acc=0.699 val_rot_acc=0.769 Epoch 61: val_v=4.626 val_pix=14.9px val_grip_acc=0.700 val_rot_acc=0.786 Epoch 62: val_v=4.821 val_pix=15.2px val_grip_acc=0.691 val_rot_acc=0.775 Epoch 63: val_v=4.754 val_pix=14.7px val_grip_acc=0.693 val_rot_acc=0.774 Epoch 64: val_v=4.534 val_pix=14.8px val_grip_acc=0.697 val_rot_acc=0.780 Epoch 65: val_v=5.159 val_pix=14.7px val_grip_acc=0.702 val_rot_acc=0.787 Epoch 66: val_v=4.244 val_pix=14.2px val_grip_acc=0.703 val_rot_acc=0.783 Epoch 67: val_v=4.569 val_pix=15.3px val_grip_acc=0.692 val_rot_acc=0.786 Epoch 68: val_v=4.354 val_pix=14.4px val_grip_acc=0.699 val_rot_acc=0.799 Epoch 69: val_v=4.688 val_pix=15.1px val_grip_acc=0.698 val_rot_acc=0.786 Epoch 70: val_v=4.737 val_pix=14.9px val_grip_acc=0.702 val_rot_acc=0.801 Epoch 71: val_v=5.009 val_pix=15.5px val_grip_acc=0.694 val_rot_acc=0.781 Epoch 72: val_v=4.848 val_pix=15.3px val_grip_acc=0.697 val_rot_acc=0.786 Epoch 73: val_v=4.594 val_pix=14.1px val_grip_acc=0.698 val_rot_acc=0.801 Epoch 74: val_v=4.601 val_pix=14.4px val_grip_acc=0.698 val_rot_acc=0.800 Epoch 75: val_v=4.638 val_pix=14.4px val_grip_acc=0.703 val_rot_acc=0.799 Epoch 76: val_v=4.920 val_pix=14.2px val_grip_acc=0.694 val_rot_acc=0.799 Epoch 77: val_v=4.875 val_pix=14.6px val_grip_acc=0.700 val_rot_acc=0.803 Epoch 78: val_v=4.784 val_pix=14.4px val_grip_acc=0.700 val_rot_acc=0.804 Epoch 79: val_v=4.794 val_pix=15.0px val_grip_acc=0.705 val_rot_acc=0.812 Epoch 80: val_v=4.807 val_pix=14.4px val_grip_acc=0.704 val_rot_acc=0.804 Epoch 81: val_v=4.891 val_pix=14.6px val_grip_acc=0.699 val_rot_acc=0.809 Epoch 82: val_v=4.962 val_pix=14.3px val_grip_acc=0.699 val_rot_acc=0.800 Epoch 83: val_v=4.804 val_pix=14.4px val_grip_acc=0.699 val_rot_acc=0.807 Epoch 84: val_v=5.152 val_pix=15.0px val_grip_acc=0.700 val_rot_acc=0.816 Epoch 85: val_v=5.043 val_pix=14.8px val_grip_acc=0.708 val_rot_acc=0.807 Epoch 86: val_v=5.112 val_pix=14.8px val_grip_acc=0.705 val_rot_acc=0.818 Epoch 87: val_v=4.722 val_pix=14.7px val_grip_acc=0.705 val_rot_acc=0.824 Epoch 88: val_v=4.526 val_pix=14.2px val_grip_acc=0.709 val_rot_acc=0.834 Epoch 89: val_v=5.084 val_pix=14.7px val_grip_acc=0.702 val_rot_acc=0.823 Epoch 90: val_v=5.393 val_pix=15.2px val_grip_acc=0.706 val_rot_acc=0.815 Epoch 91: val_v=4.895 val_pix=14.7px val_grip_acc=0.705 val_rot_acc=0.832 Epoch 92: val_v=5.104 val_pix=14.5px val_grip_acc=0.704 val_rot_acc=0.828 Epoch 93: val_v=5.138 val_pix=14.5px val_grip_acc=0.703 val_rot_acc=0.840 Epoch 94: val_v=5.414 val_pix=14.9px val_grip_acc=0.702 val_rot_acc=0.826 Epoch 95: val_v=4.938 val_pix=14.2px val_grip_acc=0.704 val_rot_acc=0.826 Epoch 96: val_v=5.009 val_pix=14.2px val_grip_acc=0.709 val_rot_acc=0.832 Epoch 97: val_v=5.543 val_pix=15.0px val_grip_acc=0.706 val_rot_acc=0.833 Epoch 98: val_v=4.978 val_pix=14.5px val_grip_acc=0.703 val_rot_acc=0.834 Epoch 99: val_v=4.796 val_pix=13.7px val_grip_acc=0.712 val_rot_acc=0.838 Epoch 100: val_v=5.162 val_pix=14.5px val_grip_acc=0.703 val_rot_acc=0.830 Epoch 101: val_v=5.749 val_pix=15.0px val_grip_acc=0.696 val_rot_acc=0.817 Epoch 102: val_v=4.695 val_pix=13.1px val_grip_acc=0.712 val_rot_acc=0.836 Epoch 103: val_v=5.093 val_pix=14.3px val_grip_acc=0.703 val_rot_acc=0.836 Epoch 104: val_v=5.194 val_pix=14.5px val_grip_acc=0.711 val_rot_acc=0.845 Epoch 105: val_v=4.765 val_pix=14.3px val_grip_acc=0.716 val_rot_acc=0.851 Epoch 106: val_v=5.382 val_pix=14.9px val_grip_acc=0.704 val_rot_acc=0.845 Epoch 107: val_v=4.806 val_pix=13.7px val_grip_acc=0.716 val_rot_acc=0.848 Epoch 108: val_v=5.193 val_pix=14.5px val_grip_acc=0.715 val_rot_acc=0.839 Epoch 109: val_v=5.199 val_pix=14.0px val_grip_acc=0.712 val_rot_acc=0.842 Epoch 110: val_v=4.885 val_pix=13.8px val_grip_acc=0.704 val_rot_acc=0.839 Epoch 111: val_v=5.033 val_pix=14.4px val_grip_acc=0.715 val_rot_acc=0.840 Epoch 112: val_v=4.892 val_pix=14.2px val_grip_acc=0.711 val_rot_acc=0.850 Epoch 113: val_v=5.221 val_pix=14.1px val_grip_acc=0.714 val_rot_acc=0.846 Epoch 114: val_v=5.406 val_pix=14.3px val_grip_acc=0.714 val_rot_acc=0.838 Epoch 115: val_v=5.166 val_pix=13.6px val_grip_acc=0.715 val_rot_acc=0.847 Epoch 116: val_v=5.492 val_pix=14.1px val_grip_acc=0.709 val_rot_acc=0.836 Epoch 117: val_v=5.862 val_pix=14.8px val_grip_acc=0.710 val_rot_acc=0.844 Epoch 118: val_v=5.651 val_pix=14.6px val_grip_acc=0.704 val_rot_acc=0.842 Epoch 119: val_v=5.588 val_pix=15.3px val_grip_acc=0.708 val_rot_acc=0.845 Epoch 120: val_v=5.365 val_pix=14.4px val_grip_acc=0.712 val_rot_acc=0.850 Epoch 121: val_v=5.555 val_pix=14.3px val_grip_acc=0.711 val_rot_acc=0.839 Epoch 122: val_v=5.521 val_pix=14.1px val_grip_acc=0.711 val_rot_acc=0.850 Epoch 123: val_v=5.556 val_pix=14.3px val_grip_acc=0.718 val_rot_acc=0.841 Epoch 124: val_v=5.613 val_pix=14.4px val_grip_acc=0.711 val_rot_acc=0.850 Epoch 125: val_v=5.479 val_pix=14.3px val_grip_acc=0.712 val_rot_acc=0.845 Epoch 126: val_v=5.893 val_pix=14.4px val_grip_acc=0.715 val_rot_acc=0.836 Epoch 127: val_v=5.617 val_pix=14.4px val_grip_acc=0.712 val_rot_acc=0.852 Epoch 128: val_v=5.425 val_pix=14.7px val_grip_acc=0.712 val_rot_acc=0.842 Epoch 129: val_v=5.466 val_pix=13.9px val_grip_acc=0.710 val_rot_acc=0.850 Epoch 130: val_v=5.636 val_pix=14.3px val_grip_acc=0.715 val_rot_acc=0.845 Epoch 131: val_v=5.348 val_pix=14.0px val_grip_acc=0.727 val_rot_acc=0.852 Epoch 132: val_v=5.265 val_pix=14.1px val_grip_acc=0.717 val_rot_acc=0.863 Epoch 133: val_v=5.477 val_pix=14.1px val_grip_acc=0.718 val_rot_acc=0.850 Epoch 134: val_v=5.743 val_pix=14.1px val_grip_acc=0.712 val_rot_acc=0.846 Epoch 135: val_v=5.077 val_pix=13.5px val_grip_acc=0.714 val_rot_acc=0.862 Epoch 136: val_v=5.305 val_pix=13.7px val_grip_acc=0.726 val_rot_acc=0.853 Epoch 137: val_v=5.861 val_pix=14.1px val_grip_acc=0.717 val_rot_acc=0.845 Epoch 138: val_v=4.984 val_pix=13.4px val_grip_acc=0.722 val_rot_acc=0.864 Epoch 139: val_v=5.736 val_pix=13.9px val_grip_acc=0.717 val_rot_acc=0.856 Epoch 140: val_v=5.677 val_pix=14.0px val_grip_acc=0.706 val_rot_acc=0.851 Epoch 141: val_v=6.155 val_pix=15.1px val_grip_acc=0.718 val_rot_acc=0.845 Epoch 142: val_v=5.495 val_pix=14.0px val_grip_acc=0.717 val_rot_acc=0.859 Epoch 143: val_v=5.346 val_pix=13.6px val_grip_acc=0.718 val_rot_acc=0.857 Epoch 144: val_v=5.906 val_pix=14.3px val_grip_acc=0.712 val_rot_acc=0.848 Epoch 145: val_v=6.095 val_pix=14.8px val_grip_acc=0.721 val_rot_acc=0.845 Epoch 146: val_v=5.710 val_pix=14.1px val_grip_acc=0.711 val_rot_acc=0.854 Epoch 147: val_v=5.419 val_pix=13.8px val_grip_acc=0.718 val_rot_acc=0.853 Epoch 148: val_v=6.027 val_pix=14.2px val_grip_acc=0.715 val_rot_acc=0.848 Epoch 149: val_v=5.675 val_pix=13.9px val_grip_acc=0.718 val_rot_acc=0.852 Epoch 150: val_v=5.859 val_pix=13.9px val_grip_acc=0.722 val_rot_acc=0.847 Epoch 151: val_v=5.647 val_pix=14.0px val_grip_acc=0.726 val_rot_acc=0.853 Epoch 152: val_v=5.757 val_pix=14.0px val_grip_acc=0.724 val_rot_acc=0.854 Epoch 153: val_v=6.341 val_pix=15.6px val_grip_acc=0.712 val_rot_acc=0.856 Epoch 154: val_v=5.552 val_pix=13.7px val_grip_acc=0.720 val_rot_acc=0.863 Epoch 155: val_v=5.657 val_pix=13.7px val_grip_acc=0.727 val_rot_acc=0.850 Epoch 156: val_v=5.933 val_pix=14.3px val_grip_acc=0.717 val_rot_acc=0.860 Epoch 157: val_v=5.816 val_pix=13.9px val_grip_acc=0.723 val_rot_acc=0.858 Epoch 158: val_v=5.689 val_pix=13.6px val_grip_acc=0.722 val_rot_acc=0.863 Epoch 159: val_v=5.549 val_pix=13.5px val_grip_acc=0.723 val_rot_acc=0.862 Epoch 160: val_v=5.939 val_pix=14.2px val_grip_acc=0.718 val_rot_acc=0.862 Epoch 161: val_v=5.878 val_pix=13.9px val_grip_acc=0.727 val_rot_acc=0.858 Epoch 162: val_v=5.609 val_pix=13.9px val_grip_acc=0.726 val_rot_acc=0.865 Epoch 163: val_v=6.037 val_pix=13.7px val_grip_acc=0.720 val_rot_acc=0.848 Epoch 164: val_v=6.166 val_pix=14.5px val_grip_acc=0.722 val_rot_acc=0.853 Epoch 165: val_v=5.946 val_pix=14.1px val_grip_acc=0.730 val_rot_acc=0.848 Epoch 166: val_v=5.323 val_pix=13.1px val_grip_acc=0.729 val_rot_acc=0.869 Epoch 167: val_v=6.311 val_pix=14.2px val_grip_acc=0.728 val_rot_acc=0.862 Epoch 168: val_v=6.314 val_pix=14.2px val_grip_acc=0.721 val_rot_acc=0.864 Epoch 169: val_v=6.110 val_pix=13.9px val_grip_acc=0.730 val_rot_acc=0.870 Epoch 170: val_v=6.452 val_pix=14.4px val_grip_acc=0.722 val_rot_acc=0.853 Epoch 171: val_v=6.000 val_pix=14.0px val_grip_acc=0.728 val_rot_acc=0.852 Epoch 172: val_v=5.454 val_pix=13.1px val_grip_acc=0.720 val_rot_acc=0.877 Epoch 173: val_v=6.588 val_pix=14.9px val_grip_acc=0.715 val_rot_acc=0.856 Epoch 174: val_v=6.090 val_pix=14.1px val_grip_acc=0.726 val_rot_acc=0.857 Epoch 175: val_v=5.870 val_pix=13.4px val_grip_acc=0.732 val_rot_acc=0.874 Epoch 176: val_v=5.734 val_pix=13.9px val_grip_acc=0.727 val_rot_acc=0.878 Epoch 177: val_v=5.894 val_pix=13.3px val_grip_acc=0.730 val_rot_acc=0.862 Epoch 178: val_v=6.392 val_pix=14.1px val_grip_acc=0.726 val_rot_acc=0.856 Epoch 179: val_v=6.036 val_pix=14.0px val_grip_acc=0.728 val_rot_acc=0.872 Epoch 180: val_v=6.745 val_pix=14.0px val_grip_acc=0.732 val_rot_acc=0.864 Epoch 181: val_v=5.613 val_pix=13.7px val_grip_acc=0.738 val_rot_acc=0.880 Epoch 182: val_v=6.113 val_pix=14.2px val_grip_acc=0.730 val_rot_acc=0.871 Epoch 183: val_v=6.021 val_pix=14.0px val_grip_acc=0.734 val_rot_acc=0.870 Epoch 184: val_v=5.653 val_pix=13.6px val_grip_acc=0.732 val_rot_acc=0.872 Epoch 185: val_v=6.333 val_pix=13.9px val_grip_acc=0.729 val_rot_acc=0.866 Epoch 186: val_v=5.945 val_pix=13.9px val_grip_acc=0.727 val_rot_acc=0.868 Epoch 187: val_v=6.282 val_pix=14.3px val_grip_acc=0.718 val_rot_acc=0.862 Epoch 188: val_v=6.103 val_pix=14.0px val_grip_acc=0.730 val_rot_acc=0.874 Epoch 189: val_v=5.999 val_pix=14.0px val_grip_acc=0.736 val_rot_acc=0.864 Epoch 190: val_v=5.657 val_pix=13.7px val_grip_acc=0.732 val_rot_acc=0.870 Epoch 191: val_v=6.507 val_pix=15.2px val_grip_acc=0.726 val_rot_acc=0.860 Epoch 192: val_v=6.115 val_pix=13.8px val_grip_acc=0.730 val_rot_acc=0.874 Epoch 193: val_v=6.173 val_pix=14.3px val_grip_acc=0.736 val_rot_acc=0.868 Epoch 194: val_v=6.569 val_pix=14.4px val_grip_acc=0.728 val_rot_acc=0.865 Epoch 195: val_v=6.018 val_pix=13.5px val_grip_acc=0.748 val_rot_acc=0.874 Epoch 196: val_v=6.368 val_pix=14.2px val_grip_acc=0.735 val_rot_acc=0.870 Epoch 197: val_v=5.932 val_pix=13.5px val_grip_acc=0.740 val_rot_acc=0.876 Epoch 198: val_v=6.932 val_pix=14.7px val_grip_acc=0.726 val_rot_acc=0.866 Epoch 199: val_v=5.750 val_pix=13.0px val_grip_acc=0.744 val_rot_acc=0.874