Loading dataset: /data/cameron/mac_robot_datasets (whitelist=['umi_collect_izzy_towel']) n_window=50 Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) umi_collect_izzy_towel: 1712 frames loaded Rotation: 1D PCA mode, basis=/data/cameron/para/libero/rotation_pca_basis_umi_izzy_towel.npz (EV ratio 0.913) Smith300DA3VolumeDataset ready: 19 eps, 1712 frames, 1693 samples, rgb=5.22 GB, depth=1.74 GB Height range observed: [0.0095, 0.2747] → padded [-0.0037, 0.2880], 32 bins of ~9.1mm each Z-bin occupancy: min=0, max=210, empty_bins=13 Dataset rotation_mode=1d_pca Train: 1609 Val: 84 Building model... Trainable: 30,363,872 Resuming DINO weights from /data/cameron/para/libero/checkpoints/dino_query_desk_collect_1_t50_pca1d_v0/latest.pth loaded=258 keys (expect ~DINO trunk), missing=0, unexpected=0 Epoch 0: val_v=5.820 val_pix=22.4px val_grip_acc=0.329 val_rot_acc=0.175 Epoch 1: val_v=4.865 val_pix=17.5px val_grip_acc=0.368 val_rot_acc=0.228 Epoch 2: val_v=4.030 val_pix=14.9px val_grip_acc=0.396 val_rot_acc=0.318 Epoch 3: val_v=3.646 val_pix=13.8px val_grip_acc=0.440 val_rot_acc=0.337 Epoch 4: val_v=3.220 val_pix=13.1px val_grip_acc=0.538 val_rot_acc=0.393 Epoch 5: val_v=3.002 val_pix=11.4px val_grip_acc=0.588 val_rot_acc=0.418 Epoch 6: val_v=2.905 val_pix=11.5px val_grip_acc=0.602 val_rot_acc=0.431 Epoch 7: val_v=2.737 val_pix=10.4px val_grip_acc=0.637 val_rot_acc=0.474 Epoch 8: val_v=2.705 val_pix=10.5px val_grip_acc=0.658 val_rot_acc=0.486 Epoch 9: val_v=2.585 val_pix=9.9px val_grip_acc=0.667 val_rot_acc=0.498 Epoch 10: val_v=2.366 val_pix=9.9px val_grip_acc=0.679 val_rot_acc=0.516 Epoch 11: val_v=2.198 val_pix=9.5px val_grip_acc=0.701 val_rot_acc=0.531 Epoch 12: val_v=2.316 val_pix=9.5px val_grip_acc=0.701 val_rot_acc=0.527 Epoch 13: val_v=2.186 val_pix=9.7px val_grip_acc=0.734 val_rot_acc=0.553 Epoch 14: val_v=2.293 val_pix=9.8px val_grip_acc=0.725 val_rot_acc=0.551 Epoch 15: val_v=2.176 val_pix=9.3px val_grip_acc=0.743 val_rot_acc=0.580 Epoch 16: val_v=2.089 val_pix=9.5px val_grip_acc=0.745 val_rot_acc=0.578 Epoch 17: val_v=2.115 val_pix=9.5px val_grip_acc=0.748 val_rot_acc=0.579 Epoch 18: val_v=2.092 val_pix=9.3px val_grip_acc=0.752 val_rot_acc=0.597 Epoch 19: val_v=1.895 val_pix=8.7px val_grip_acc=0.760 val_rot_acc=0.605 Epoch 20: val_v=1.952 val_pix=8.2px val_grip_acc=0.753 val_rot_acc=0.613 Epoch 21: val_v=2.000 val_pix=8.7px val_grip_acc=0.758 val_rot_acc=0.625 Epoch 22: val_v=1.803 val_pix=8.6px val_grip_acc=0.771 val_rot_acc=0.631 Epoch 23: val_v=1.984 val_pix=9.8px val_grip_acc=0.764 val_rot_acc=0.639 Epoch 24: val_v=1.962 val_pix=9.2px val_grip_acc=0.765 val_rot_acc=0.633 Epoch 25: val_v=1.893 val_pix=8.5px val_grip_acc=0.764 val_rot_acc=0.641 Epoch 26: val_v=1.794 val_pix=8.5px val_grip_acc=0.774 val_rot_acc=0.646 Epoch 27: val_v=1.862 val_pix=9.0px val_grip_acc=0.779 val_rot_acc=0.659 Epoch 28: val_v=1.840 val_pix=8.4px val_grip_acc=0.780 val_rot_acc=0.660 Epoch 29: val_v=1.763 val_pix=8.6px val_grip_acc=0.783 val_rot_acc=0.651 Epoch 30: val_v=1.819 val_pix=8.9px val_grip_acc=0.779 val_rot_acc=0.661 Epoch 31: val_v=1.810 val_pix=8.5px val_grip_acc=0.785 val_rot_acc=0.670 Epoch 32: val_v=1.909 val_pix=9.2px val_grip_acc=0.781 val_rot_acc=0.672 Epoch 33: val_v=1.965 val_pix=9.2px val_grip_acc=0.785 val_rot_acc=0.676 Epoch 34: val_v=1.674 val_pix=8.7px val_grip_acc=0.782 val_rot_acc=0.686 Epoch 35: val_v=1.729 val_pix=8.7px val_grip_acc=0.785 val_rot_acc=0.684 Epoch 36: val_v=1.748 val_pix=8.4px val_grip_acc=0.788 val_rot_acc=0.680 Epoch 37: val_v=1.620 val_pix=8.1px val_grip_acc=0.786 val_rot_acc=0.687 Epoch 38: val_v=1.862 val_pix=9.3px val_grip_acc=0.787 val_rot_acc=0.690 Epoch 39: val_v=1.807 val_pix=9.1px val_grip_acc=0.786 val_rot_acc=0.683 Epoch 40: val_v=1.736 val_pix=8.6px val_grip_acc=0.787 val_rot_acc=0.709 Epoch 41: val_v=1.728 val_pix=8.4px val_grip_acc=0.788 val_rot_acc=0.700 Epoch 42: val_v=1.795 val_pix=8.9px val_grip_acc=0.790 val_rot_acc=0.700 Epoch 43: val_v=1.663 val_pix=8.3px val_grip_acc=0.791 val_rot_acc=0.698 Epoch 44: val_v=1.797 val_pix=8.9px val_grip_acc=0.792 val_rot_acc=0.699 Epoch 45: val_v=1.687 val_pix=8.3px val_grip_acc=0.793 val_rot_acc=0.703 Epoch 46: val_v=1.798 val_pix=9.1px val_grip_acc=0.793 val_rot_acc=0.714 Epoch 47: val_v=1.588 val_pix=8.1px val_grip_acc=0.794 val_rot_acc=0.719 Epoch 48: val_v=1.706 val_pix=8.4px val_grip_acc=0.791 val_rot_acc=0.715 Epoch 49: val_v=1.621 val_pix=8.3px val_grip_acc=0.791 val_rot_acc=0.719 Epoch 50: val_v=1.579 val_pix=8.3px val_grip_acc=0.798 val_rot_acc=0.721 Epoch 51: val_v=1.628 val_pix=8.2px val_grip_acc=0.798 val_rot_acc=0.726 Epoch 52: val_v=1.843 val_pix=8.8px val_grip_acc=0.795 val_rot_acc=0.726 Epoch 53: val_v=1.707 val_pix=8.2px val_grip_acc=0.798 val_rot_acc=0.724 Epoch 54: val_v=1.746 val_pix=8.6px val_grip_acc=0.799 val_rot_acc=0.729 Epoch 55: val_v=1.657 val_pix=8.5px val_grip_acc=0.802 val_rot_acc=0.736 Epoch 56: val_v=1.622 val_pix=8.6px val_grip_acc=0.802 val_rot_acc=0.729 Epoch 57: val_v=1.654 val_pix=8.2px val_grip_acc=0.804 val_rot_acc=0.734 Epoch 58: val_v=1.625 val_pix=8.5px val_grip_acc=0.799 val_rot_acc=0.730 Epoch 59: val_v=1.599 val_pix=8.2px val_grip_acc=0.800 val_rot_acc=0.738 Epoch 60: val_v=1.698 val_pix=8.3px val_grip_acc=0.798 val_rot_acc=0.740 Epoch 61: val_v=1.725 val_pix=8.6px val_grip_acc=0.807 val_rot_acc=0.738 Epoch 62: val_v=1.643 val_pix=8.6px val_grip_acc=0.796 val_rot_acc=0.739 Epoch 63: val_v=1.677 val_pix=8.7px val_grip_acc=0.805 val_rot_acc=0.740 Epoch 64: val_v=1.672 val_pix=8.4px val_grip_acc=0.801 val_rot_acc=0.741 Epoch 65: val_v=1.847 val_pix=8.8px val_grip_acc=0.805 val_rot_acc=0.734 Epoch 66: val_v=1.773 val_pix=8.5px val_grip_acc=0.805 val_rot_acc=0.743 Epoch 67: val_v=1.679 val_pix=8.6px val_grip_acc=0.805 val_rot_acc=0.744 Epoch 68: val_v=1.541 val_pix=7.8px val_grip_acc=0.812 val_rot_acc=0.754 Epoch 69: val_v=1.716 val_pix=8.3px val_grip_acc=0.804 val_rot_acc=0.747 Epoch 70: val_v=1.507 val_pix=8.0px val_grip_acc=0.807 val_rot_acc=0.752 Epoch 71: val_v=1.573 val_pix=8.0px val_grip_acc=0.811 val_rot_acc=0.754 Epoch 72: val_v=1.570 val_pix=8.1px val_grip_acc=0.809 val_rot_acc=0.748 Epoch 73: val_v=1.669 val_pix=8.2px val_grip_acc=0.805 val_rot_acc=0.754 Epoch 74: val_v=1.557 val_pix=7.9px val_grip_acc=0.812 val_rot_acc=0.755 Epoch 75: val_v=1.626 val_pix=8.1px val_grip_acc=0.812 val_rot_acc=0.756 Epoch 76: val_v=1.643 val_pix=8.4px val_grip_acc=0.812 val_rot_acc=0.756 Epoch 77: val_v=1.648 val_pix=8.4px val_grip_acc=0.814 val_rot_acc=0.751 Epoch 78: val_v=1.796 val_pix=8.5px val_grip_acc=0.812 val_rot_acc=0.754 Epoch 79: val_v=1.727 val_pix=8.5px val_grip_acc=0.818 val_rot_acc=0.763 Epoch 80: val_v=1.712 val_pix=8.3px val_grip_acc=0.815 val_rot_acc=0.758 Epoch 81: val_v=1.632 val_pix=8.1px val_grip_acc=0.816 val_rot_acc=0.758 Epoch 82: val_v=1.598 val_pix=8.3px val_grip_acc=0.812 val_rot_acc=0.763 Epoch 83: val_v=1.708 val_pix=8.2px val_grip_acc=0.812 val_rot_acc=0.751 Epoch 84: val_v=1.734 val_pix=8.4px val_grip_acc=0.813 val_rot_acc=0.758 Epoch 85: val_v=1.621 val_pix=8.2px val_grip_acc=0.818 val_rot_acc=0.764 Epoch 86: val_v=1.645 val_pix=8.1px val_grip_acc=0.820 val_rot_acc=0.768 Epoch 87: val_v=1.414 val_pix=8.0px val_grip_acc=0.818 val_rot_acc=0.776 Epoch 88: val_v=1.735 val_pix=8.2px val_grip_acc=0.821 val_rot_acc=0.767 Epoch 89: val_v=1.671 val_pix=8.6px val_grip_acc=0.818 val_rot_acc=0.765 Epoch 90: val_v=1.668 val_pix=8.4px val_grip_acc=0.821 val_rot_acc=0.770 Epoch 91: val_v=1.638 val_pix=8.0px val_grip_acc=0.817 val_rot_acc=0.764 Epoch 92: val_v=1.565 val_pix=8.2px val_grip_acc=0.820 val_rot_acc=0.775 Epoch 93: val_v=1.745 val_pix=8.5px val_grip_acc=0.815 val_rot_acc=0.775 Epoch 94: val_v=1.694 val_pix=8.2px val_grip_acc=0.816 val_rot_acc=0.773 Epoch 95: val_v=1.703 val_pix=8.2px val_grip_acc=0.823 val_rot_acc=0.779 Epoch 96: val_v=1.952 val_pix=8.2px val_grip_acc=0.818 val_rot_acc=0.775 Epoch 97: val_v=1.699 val_pix=8.1px val_grip_acc=0.823 val_rot_acc=0.779 Epoch 98: val_v=1.791 val_pix=8.4px val_grip_acc=0.821 val_rot_acc=0.771 Epoch 99: val_v=1.867 val_pix=8.7px val_grip_acc=0.820 val_rot_acc=0.769 Epoch 100: val_v=1.792 val_pix=8.4px val_grip_acc=0.826 val_rot_acc=0.778 Epoch 101: val_v=1.697 val_pix=8.4px val_grip_acc=0.822 val_rot_acc=0.777 Epoch 102: val_v=1.614 val_pix=8.4px val_grip_acc=0.827 val_rot_acc=0.776 Epoch 103: val_v=1.695 val_pix=8.1px val_grip_acc=0.828 val_rot_acc=0.777 Epoch 104: val_v=1.871 val_pix=8.3px val_grip_acc=0.822 val_rot_acc=0.777 Epoch 105: val_v=1.578 val_pix=8.2px val_grip_acc=0.821 val_rot_acc=0.774 Epoch 106: val_v=1.635 val_pix=8.2px val_grip_acc=0.832 val_rot_acc=0.778 Epoch 107: val_v=1.626 val_pix=8.1px val_grip_acc=0.827 val_rot_acc=0.786 Epoch 108: val_v=1.846 val_pix=8.3px val_grip_acc=0.824 val_rot_acc=0.775 Epoch 109: val_v=1.776 val_pix=8.1px val_grip_acc=0.817 val_rot_acc=0.784 Epoch 110: val_v=1.701 val_pix=8.1px val_grip_acc=0.827 val_rot_acc=0.787 Epoch 111: val_v=1.762 val_pix=8.2px val_grip_acc=0.828 val_rot_acc=0.782 Epoch 112: val_v=1.903 val_pix=8.4px val_grip_acc=0.827 val_rot_acc=0.790 Epoch 113: val_v=1.645 val_pix=8.1px val_grip_acc=0.832 val_rot_acc=0.785 Epoch 114: val_v=1.726 val_pix=8.1px val_grip_acc=0.833 val_rot_acc=0.787 Epoch 115: val_v=1.928 val_pix=8.6px val_grip_acc=0.827 val_rot_acc=0.786 Epoch 116: val_v=1.627 val_pix=8.2px val_grip_acc=0.831 val_rot_acc=0.801 Epoch 117: val_v=1.759 val_pix=7.9px val_grip_acc=0.826 val_rot_acc=0.790 Epoch 118: val_v=1.786 val_pix=8.5px val_grip_acc=0.825 val_rot_acc=0.798 Epoch 119: val_v=1.674 val_pix=8.2px val_grip_acc=0.830 val_rot_acc=0.798 Epoch 120: val_v=1.637 val_pix=8.2px val_grip_acc=0.831 val_rot_acc=0.796 Epoch 121: val_v=1.766 val_pix=8.3px val_grip_acc=0.832 val_rot_acc=0.793 Epoch 122: val_v=1.592 val_pix=8.1px val_grip_acc=0.831 val_rot_acc=0.792 Epoch 123: val_v=1.840 val_pix=8.5px val_grip_acc=0.827 val_rot_acc=0.795 Epoch 124: val_v=1.909 val_pix=8.3px val_grip_acc=0.830 val_rot_acc=0.790 Epoch 125: val_v=1.844 val_pix=8.1px val_grip_acc=0.828 val_rot_acc=0.791 Epoch 126: val_v=1.685 val_pix=8.1px val_grip_acc=0.836 val_rot_acc=0.797 Epoch 127: val_v=1.629 val_pix=8.4px val_grip_acc=0.833 val_rot_acc=0.800 Epoch 128: val_v=1.571 val_pix=8.1px val_grip_acc=0.841 val_rot_acc=0.802 Epoch 129: val_v=1.734 val_pix=8.3px val_grip_acc=0.836 val_rot_acc=0.792 Epoch 130: val_v=1.639 val_pix=8.1px val_grip_acc=0.840 val_rot_acc=0.805 Epoch 131: val_v=1.824 val_pix=8.1px val_grip_acc=0.841 val_rot_acc=0.787 Epoch 132: val_v=1.693 val_pix=7.9px val_grip_acc=0.836 val_rot_acc=0.804 Epoch 133: val_v=1.659 val_pix=8.1px val_grip_acc=0.840 val_rot_acc=0.803 Epoch 134: val_v=1.646 val_pix=7.9px val_grip_acc=0.838 val_rot_acc=0.799 Epoch 135: val_v=1.753 val_pix=8.2px val_grip_acc=0.839 val_rot_acc=0.798 Epoch 136: val_v=1.695 val_pix=8.0px val_grip_acc=0.842 val_rot_acc=0.805 Epoch 137: val_v=1.674 val_pix=7.8px val_grip_acc=0.838 val_rot_acc=0.810 Epoch 138: val_v=1.776 val_pix=8.2px val_grip_acc=0.839 val_rot_acc=0.803 Epoch 139: val_v=1.545 val_pix=7.8px val_grip_acc=0.841 val_rot_acc=0.811 Epoch 140: val_v=1.800 val_pix=8.3px val_grip_acc=0.840 val_rot_acc=0.807 Epoch 141: val_v=1.802 val_pix=8.1px val_grip_acc=0.838 val_rot_acc=0.799 Epoch 142: val_v=1.740 val_pix=8.3px val_grip_acc=0.838 val_rot_acc=0.805 Epoch 143: val_v=1.841 val_pix=8.1px val_grip_acc=0.841 val_rot_acc=0.810 Epoch 144: val_v=1.679 val_pix=8.3px val_grip_acc=0.844 val_rot_acc=0.812 Epoch 145: val_v=1.783 val_pix=8.0px val_grip_acc=0.839 val_rot_acc=0.796 Epoch 146: val_v=2.130 val_pix=8.6px val_grip_acc=0.841 val_rot_acc=0.798 Epoch 147: val_v=1.647 val_pix=8.4px val_grip_acc=0.846 val_rot_acc=0.812 Epoch 148: val_v=1.755 val_pix=8.2px val_grip_acc=0.839 val_rot_acc=0.807 Epoch 149: val_v=1.776 val_pix=8.0px val_grip_acc=0.842 val_rot_acc=0.812 Epoch 150: val_v=1.716 val_pix=8.0px val_grip_acc=0.847 val_rot_acc=0.808 Epoch 151: val_v=1.656 val_pix=8.0px val_grip_acc=0.844 val_rot_acc=0.814 Epoch 152: val_v=1.861 val_pix=8.0px val_grip_acc=0.834 val_rot_acc=0.813 Epoch 153: val_v=1.770 val_pix=8.0px val_grip_acc=0.842 val_rot_acc=0.813 Epoch 154: val_v=1.766 val_pix=8.2px val_grip_acc=0.844 val_rot_acc=0.811 Epoch 155: val_v=1.870 val_pix=8.2px val_grip_acc=0.847 val_rot_acc=0.812 Epoch 156: val_v=1.736 val_pix=7.9px val_grip_acc=0.843 val_rot_acc=0.809 Epoch 157: val_v=1.824 val_pix=8.1px val_grip_acc=0.837 val_rot_acc=0.807 Epoch 158: val_v=1.809 val_pix=8.2px val_grip_acc=0.842 val_rot_acc=0.812 Epoch 159: val_v=2.034 val_pix=8.3px val_grip_acc=0.842 val_rot_acc=0.804 Epoch 160: val_v=1.755 val_pix=8.2px val_grip_acc=0.848 val_rot_acc=0.809 Epoch 161: val_v=1.707 val_pix=8.0px val_grip_acc=0.842 val_rot_acc=0.814 Epoch 162: val_v=1.770 val_pix=7.9px val_grip_acc=0.852 val_rot_acc=0.809 Epoch 163: val_v=1.969 val_pix=8.2px val_grip_acc=0.844 val_rot_acc=0.806