Loading dataset: /data/cameron/mac_robot_datasets (whitelist=['umi_collect_izzy_towel', 'robot_izzy_towel']) n_window=50 Smith300DA3VolumeDataset: loading 2 sessions (whitelisted) robot_izzy_towel: 342 frames loaded umi_collect_izzy_towel: 1712 frames loaded Rotation: 1D PCA mode, basis=/data/cameron/para/libero/rotation_pca_basis_umi_plus_robot_izzy_towel.npz (EV ratio 0.810) Smith300DA3VolumeDataset ready: 28 eps, 2054 frames, 2026 samples, rgb=6.26 GB, depth=2.09 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=219, empty_bins=13 Dataset rotation_mode=1d_pca Train: 1925 Val: 101 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=5.780 val_pix=23.5px val_grip_acc=0.231 val_rot_acc=0.189 Epoch 1: val_v=4.612 val_pix=18.3px val_grip_acc=0.275 val_rot_acc=0.251 Epoch 2: val_v=3.814 val_pix=15.3px val_grip_acc=0.321 val_rot_acc=0.279 Epoch 3: val_v=3.560 val_pix=13.8px val_grip_acc=0.414 val_rot_acc=0.328 Epoch 4: val_v=3.171 val_pix=14.8px val_grip_acc=0.508 val_rot_acc=0.365 Epoch 5: val_v=3.243 val_pix=12.4px val_grip_acc=0.548 val_rot_acc=0.427 Epoch 6: val_v=2.880 val_pix=11.7px val_grip_acc=0.599 val_rot_acc=0.427 Epoch 7: val_v=3.090 val_pix=11.1px val_grip_acc=0.629 val_rot_acc=0.451 Epoch 8: val_v=2.719 val_pix=11.2px val_grip_acc=0.635 val_rot_acc=0.480 Epoch 9: val_v=2.629 val_pix=10.5px val_grip_acc=0.649 val_rot_acc=0.476 Epoch 10: val_v=2.687 val_pix=11.2px val_grip_acc=0.672 val_rot_acc=0.502 Epoch 11: val_v=2.477 val_pix=10.7px val_grip_acc=0.683 val_rot_acc=0.517 Epoch 12: val_v=2.320 val_pix=9.8px val_grip_acc=0.697 val_rot_acc=0.516 Epoch 13: val_v=2.554 val_pix=10.6px val_grip_acc=0.715 val_rot_acc=0.541 Epoch 14: val_v=2.390 val_pix=10.7px val_grip_acc=0.719 val_rot_acc=0.545 Epoch 15: val_v=2.357 val_pix=10.1px val_grip_acc=0.727 val_rot_acc=0.528 Epoch 16: val_v=2.274 val_pix=9.6px val_grip_acc=0.724 val_rot_acc=0.540 Epoch 17: val_v=2.173 val_pix=10.0px val_grip_acc=0.728 val_rot_acc=0.542 Epoch 18: val_v=2.314 val_pix=10.0px val_grip_acc=0.722 val_rot_acc=0.535 Epoch 19: val_v=2.244 val_pix=10.4px val_grip_acc=0.729 val_rot_acc=0.527 Epoch 20: val_v=2.005 val_pix=9.7px val_grip_acc=0.734 val_rot_acc=0.556 Epoch 21: val_v=2.279 val_pix=9.9px val_grip_acc=0.736 val_rot_acc=0.562 Epoch 22: val_v=2.087 val_pix=9.9px val_grip_acc=0.737 val_rot_acc=0.580 Epoch 23: val_v=2.259 val_pix=9.1px val_grip_acc=0.742 val_rot_acc=0.568 Epoch 24: val_v=2.181 val_pix=9.9px val_grip_acc=0.743 val_rot_acc=0.573 Epoch 25: val_v=2.048 val_pix=9.1px val_grip_acc=0.744 val_rot_acc=0.580 Epoch 26: val_v=2.055 val_pix=10.0px val_grip_acc=0.746 val_rot_acc=0.592 Epoch 27: val_v=2.059 val_pix=9.5px val_grip_acc=0.745 val_rot_acc=0.598 Epoch 28: val_v=2.064 val_pix=9.1px val_grip_acc=0.752 val_rot_acc=0.592 Epoch 29: val_v=2.025 val_pix=9.3px val_grip_acc=0.750 val_rot_acc=0.609 Epoch 30: val_v=2.066 val_pix=8.9px val_grip_acc=0.749 val_rot_acc=0.612 Epoch 31: val_v=2.222 val_pix=9.7px val_grip_acc=0.749 val_rot_acc=0.594 Epoch 32: val_v=2.013 val_pix=9.3px val_grip_acc=0.757 val_rot_acc=0.615 Epoch 33: val_v=2.076 val_pix=9.7px val_grip_acc=0.751 val_rot_acc=0.615 Epoch 34: val_v=2.070 val_pix=9.7px val_grip_acc=0.754 val_rot_acc=0.609 Epoch 35: val_v=1.903 val_pix=9.5px val_grip_acc=0.759 val_rot_acc=0.624 Epoch 36: val_v=1.913 val_pix=8.8px val_grip_acc=0.750 val_rot_acc=0.643 Epoch 37: val_v=1.928 val_pix=9.7px val_grip_acc=0.755 val_rot_acc=0.629 Epoch 38: val_v=1.942 val_pix=9.5px val_grip_acc=0.760 val_rot_acc=0.632 Epoch 39: val_v=1.971 val_pix=9.1px val_grip_acc=0.765 val_rot_acc=0.646 Epoch 40: val_v=1.949 val_pix=9.1px val_grip_acc=0.754 val_rot_acc=0.643 Epoch 41: val_v=2.049 val_pix=8.8px val_grip_acc=0.761 val_rot_acc=0.647 Epoch 42: val_v=1.829 val_pix=9.4px val_grip_acc=0.760 val_rot_acc=0.648 Epoch 43: val_v=2.064 val_pix=9.9px val_grip_acc=0.754 val_rot_acc=0.635 Epoch 44: val_v=1.843 val_pix=8.8px val_grip_acc=0.769 val_rot_acc=0.648 Epoch 45: val_v=1.827 val_pix=8.7px val_grip_acc=0.760 val_rot_acc=0.669 Epoch 46: val_v=2.043 val_pix=9.2px val_grip_acc=0.773 val_rot_acc=0.674 Epoch 47: val_v=1.877 val_pix=9.3px val_grip_acc=0.774 val_rot_acc=0.669 Epoch 48: val_v=1.929 val_pix=9.3px val_grip_acc=0.765 val_rot_acc=0.671 Epoch 49: val_v=1.843 val_pix=9.2px val_grip_acc=0.775 val_rot_acc=0.659 Epoch 50: val_v=1.990 val_pix=9.3px val_grip_acc=0.770 val_rot_acc=0.678 Epoch 51: val_v=1.963 val_pix=8.8px val_grip_acc=0.774 val_rot_acc=0.673 Epoch 52: val_v=1.964 val_pix=9.1px val_grip_acc=0.772 val_rot_acc=0.662 Epoch 53: val_v=2.085 val_pix=9.5px val_grip_acc=0.775 val_rot_acc=0.690 Epoch 54: val_v=1.973 val_pix=9.2px val_grip_acc=0.775 val_rot_acc=0.666 Epoch 55: val_v=1.812 val_pix=8.9px val_grip_acc=0.779 val_rot_acc=0.687 Epoch 56: val_v=1.876 val_pix=9.0px val_grip_acc=0.776 val_rot_acc=0.685 Epoch 57: val_v=1.883 val_pix=8.8px val_grip_acc=0.774 val_rot_acc=0.690 Epoch 58: val_v=1.730 val_pix=8.5px val_grip_acc=0.783 val_rot_acc=0.695 Epoch 59: val_v=2.305 val_pix=8.7px val_grip_acc=0.779 val_rot_acc=0.689 Epoch 60: val_v=1.898 val_pix=9.4px val_grip_acc=0.774 val_rot_acc=0.716 Epoch 61: val_v=1.786 val_pix=8.7px val_grip_acc=0.779 val_rot_acc=0.712 Epoch 62: val_v=1.992 val_pix=9.1px val_grip_acc=0.781 val_rot_acc=0.698 Epoch 63: val_v=1.977 val_pix=8.9px val_grip_acc=0.781 val_rot_acc=0.719 Epoch 64: val_v=2.067 val_pix=9.1px val_grip_acc=0.780 val_rot_acc=0.702 Epoch 65: val_v=1.844 val_pix=9.0px val_grip_acc=0.783 val_rot_acc=0.711 Epoch 66: val_v=1.895 val_pix=9.3px val_grip_acc=0.779 val_rot_acc=0.688 Epoch 67: val_v=1.847 val_pix=8.8px val_grip_acc=0.783 val_rot_acc=0.707 Epoch 68: val_v=1.763 val_pix=8.6px val_grip_acc=0.782 val_rot_acc=0.730 Epoch 69: val_v=1.821 val_pix=8.4px val_grip_acc=0.784 val_rot_acc=0.718 Epoch 70: val_v=2.005 val_pix=9.3px val_grip_acc=0.785 val_rot_acc=0.715 Epoch 71: val_v=2.005 val_pix=9.1px val_grip_acc=0.786 val_rot_acc=0.728 Epoch 72: val_v=1.801 val_pix=8.7px val_grip_acc=0.790 val_rot_acc=0.729 Epoch 73: val_v=2.076 val_pix=9.4px val_grip_acc=0.791 val_rot_acc=0.714 Epoch 74: val_v=1.749 val_pix=8.8px val_grip_acc=0.786 val_rot_acc=0.731 Epoch 75: val_v=1.737 val_pix=8.6px val_grip_acc=0.790 val_rot_acc=0.735 Epoch 76: val_v=2.059 val_pix=8.7px val_grip_acc=0.784 val_rot_acc=0.736 Epoch 77: val_v=1.946 val_pix=9.0px val_grip_acc=0.786 val_rot_acc=0.717 Epoch 78: val_v=1.850 val_pix=8.8px val_grip_acc=0.792 val_rot_acc=0.748 Epoch 79: val_v=1.748 val_pix=8.6px val_grip_acc=0.792 val_rot_acc=0.739 Epoch 80: val_v=1.810 val_pix=8.9px val_grip_acc=0.796 val_rot_acc=0.730 Epoch 81: val_v=1.977 val_pix=9.2px val_grip_acc=0.790 val_rot_acc=0.725 Epoch 82: val_v=1.880 val_pix=8.7px val_grip_acc=0.793 val_rot_acc=0.737 Epoch 83: val_v=1.910 val_pix=8.7px val_grip_acc=0.789 val_rot_acc=0.744 Epoch 84: val_v=1.920 val_pix=8.7px val_grip_acc=0.797 val_rot_acc=0.749 Epoch 85: val_v=1.853 val_pix=8.6px val_grip_acc=0.799 val_rot_acc=0.743 Epoch 86: val_v=1.912 val_pix=8.9px val_grip_acc=0.789 val_rot_acc=0.737 Epoch 87: val_v=2.155 val_pix=9.7px val_grip_acc=0.790 val_rot_acc=0.733 Epoch 88: val_v=1.725 val_pix=8.6px val_grip_acc=0.805 val_rot_acc=0.752 Epoch 89: val_v=2.174 val_pix=9.0px val_grip_acc=0.790 val_rot_acc=0.743 Epoch 90: val_v=1.621 val_pix=8.8px val_grip_acc=0.797 val_rot_acc=0.742 Epoch 91: val_v=1.810 val_pix=8.8px val_grip_acc=0.800 val_rot_acc=0.751 Epoch 92: val_v=1.986 val_pix=9.0px val_grip_acc=0.802 val_rot_acc=0.760 Epoch 93: val_v=1.974 val_pix=9.3px val_grip_acc=0.798 val_rot_acc=0.741 Epoch 94: val_v=2.059 val_pix=9.1px val_grip_acc=0.801 val_rot_acc=0.739 Epoch 95: val_v=1.913 val_pix=9.0px val_grip_acc=0.802 val_rot_acc=0.764 Epoch 96: val_v=2.001 val_pix=8.6px val_grip_acc=0.804 val_rot_acc=0.760 Epoch 97: val_v=1.958 val_pix=8.9px val_grip_acc=0.800 val_rot_acc=0.757 Epoch 98: val_v=1.814 val_pix=8.6px val_grip_acc=0.808 val_rot_acc=0.764 Epoch 99: val_v=1.859 val_pix=8.8px val_grip_acc=0.800 val_rot_acc=0.759 Epoch 100: val_v=2.006 val_pix=8.7px val_grip_acc=0.796 val_rot_acc=0.744 Epoch 101: val_v=2.231 val_pix=9.3px val_grip_acc=0.802 val_rot_acc=0.749 Epoch 102: val_v=2.035 val_pix=8.9px val_grip_acc=0.801 val_rot_acc=0.754 Epoch 103: val_v=1.900 val_pix=8.7px val_grip_acc=0.806 val_rot_acc=0.770 Epoch 104: val_v=2.121 val_pix=9.2px val_grip_acc=0.806 val_rot_acc=0.760 Epoch 105: val_v=2.004 val_pix=8.8px val_grip_acc=0.798 val_rot_acc=0.763 Epoch 106: val_v=1.909 val_pix=8.6px val_grip_acc=0.810 val_rot_acc=0.769 Epoch 107: val_v=2.129 val_pix=9.1px val_grip_acc=0.806 val_rot_acc=0.771 Epoch 108: val_v=2.160 val_pix=9.0px val_grip_acc=0.805 val_rot_acc=0.776 Epoch 109: val_v=2.184 val_pix=9.0px val_grip_acc=0.803 val_rot_acc=0.763 Epoch 110: val_v=2.061 val_pix=8.8px val_grip_acc=0.808 val_rot_acc=0.770 Epoch 111: val_v=2.065 val_pix=8.8px val_grip_acc=0.812 val_rot_acc=0.774 Epoch 112: val_v=2.080 val_pix=8.8px val_grip_acc=0.805 val_rot_acc=0.764 Epoch 113: val_v=1.945 val_pix=8.6px val_grip_acc=0.813 val_rot_acc=0.774 Epoch 114: val_v=2.268 val_pix=8.9px val_grip_acc=0.801 val_rot_acc=0.767 Epoch 115: val_v=2.097 val_pix=9.0px val_grip_acc=0.810 val_rot_acc=0.768 Epoch 116: val_v=1.985 val_pix=8.8px val_grip_acc=0.818 val_rot_acc=0.775 Epoch 117: val_v=1.974 val_pix=9.0px val_grip_acc=0.812 val_rot_acc=0.775 Epoch 118: val_v=1.882 val_pix=8.9px val_grip_acc=0.817 val_rot_acc=0.776 Epoch 119: val_v=2.016 val_pix=8.8px val_grip_acc=0.815 val_rot_acc=0.784 Epoch 120: val_v=2.029 val_pix=8.8px val_grip_acc=0.814 val_rot_acc=0.784 Epoch 121: val_v=2.000 val_pix=8.6px val_grip_acc=0.817 val_rot_acc=0.785 Epoch 122: val_v=2.087 val_pix=8.9px val_grip_acc=0.816 val_rot_acc=0.776 Epoch 123: val_v=2.019 val_pix=8.7px val_grip_acc=0.818 val_rot_acc=0.779 Epoch 124: val_v=2.260 val_pix=8.5px val_grip_acc=0.823 val_rot_acc=0.769 Epoch 125: val_v=2.106 val_pix=8.9px val_grip_acc=0.818 val_rot_acc=0.771 Epoch 126: val_v=2.021 val_pix=8.8px val_grip_acc=0.815 val_rot_acc=0.776 Epoch 127: val_v=2.093 val_pix=8.7px val_grip_acc=0.822 val_rot_acc=0.768 Epoch 128: val_v=2.185 val_pix=8.9px val_grip_acc=0.813 val_rot_acc=0.772 Epoch 129: val_v=2.358 val_pix=8.7px val_grip_acc=0.819 val_rot_acc=0.766 Epoch 130: val_v=2.075 val_pix=8.8px val_grip_acc=0.816 val_rot_acc=0.785 Epoch 131: val_v=2.111 val_pix=8.8px val_grip_acc=0.822 val_rot_acc=0.778 Epoch 132: val_v=2.276 val_pix=9.0px val_grip_acc=0.812 val_rot_acc=0.780 Epoch 133: val_v=2.136 val_pix=8.8px val_grip_acc=0.815 val_rot_acc=0.781 Epoch 134: val_v=2.295 val_pix=8.7px val_grip_acc=0.818 val_rot_acc=0.777 Epoch 135: val_v=1.969 val_pix=8.8px val_grip_acc=0.825 val_rot_acc=0.798 Epoch 136: val_v=2.316 val_pix=9.1px val_grip_acc=0.817 val_rot_acc=0.781 Epoch 137: val_v=2.388 val_pix=8.6px val_grip_acc=0.831 val_rot_acc=0.783 Epoch 138: val_v=2.133 val_pix=8.7px val_grip_acc=0.820 val_rot_acc=0.799 Epoch 139: val_v=2.246 val_pix=8.8px val_grip_acc=0.818 val_rot_acc=0.782 Epoch 140: val_v=2.080 val_pix=8.6px val_grip_acc=0.828 val_rot_acc=0.797 Epoch 141: val_v=2.102 val_pix=8.7px val_grip_acc=0.828 val_rot_acc=0.785 Epoch 142: val_v=2.114 val_pix=8.6px val_grip_acc=0.833 val_rot_acc=0.799 Epoch 143: val_v=2.030 val_pix=8.6px val_grip_acc=0.830 val_rot_acc=0.800 Epoch 144: val_v=2.208 val_pix=8.8px val_grip_acc=0.825 val_rot_acc=0.786 Epoch 145: val_v=2.045 val_pix=9.0px val_grip_acc=0.827 val_rot_acc=0.782 Epoch 146: val_v=2.230 val_pix=9.0px val_grip_acc=0.823 val_rot_acc=0.783 Epoch 147: val_v=2.275 val_pix=9.0px val_grip_acc=0.827 val_rot_acc=0.788 Epoch 148: val_v=2.480 val_pix=9.0px val_grip_acc=0.818 val_rot_acc=0.779 Epoch 149: val_v=2.310 val_pix=8.8px val_grip_acc=0.820 val_rot_acc=0.791 Epoch 150: val_v=2.151 val_pix=8.6px val_grip_acc=0.824 val_rot_acc=0.784 Epoch 151: val_v=2.097 val_pix=9.0px val_grip_acc=0.826 val_rot_acc=0.786 Epoch 152: val_v=2.167 val_pix=8.7px val_grip_acc=0.831 val_rot_acc=0.790 Epoch 153: val_v=2.028 val_pix=8.6px val_grip_acc=0.831 val_rot_acc=0.799 Epoch 154: val_v=2.028 val_pix=8.6px val_grip_acc=0.820 val_rot_acc=0.803 Epoch 155: val_v=2.393 val_pix=9.3px val_grip_acc=0.828 val_rot_acc=0.785 Epoch 156: val_v=2.045 val_pix=8.7px val_grip_acc=0.832 val_rot_acc=0.785 Epoch 157: val_v=2.068 val_pix=8.5px val_grip_acc=0.832 val_rot_acc=0.812 Epoch 158: val_v=2.170 val_pix=8.5px val_grip_acc=0.829 val_rot_acc=0.789 Epoch 159: val_v=2.186 val_pix=8.9px val_grip_acc=0.828 val_rot_acc=0.807 Epoch 160: val_v=2.066 val_pix=8.7px val_grip_acc=0.825 val_rot_acc=0.802 Epoch 161: val_v=2.108 val_pix=8.6px val_grip_acc=0.829 val_rot_acc=0.802 Epoch 162: val_v=2.095 val_pix=8.9px val_grip_acc=0.830 val_rot_acc=0.807 Epoch 163: val_v=2.243 val_pix=8.7px val_grip_acc=0.843 val_rot_acc=0.800 Epoch 164: val_v=2.155 val_pix=8.7px val_grip_acc=0.834 val_rot_acc=0.787 Epoch 165: val_v=2.268 val_pix=8.8px val_grip_acc=0.836 val_rot_acc=0.795 Epoch 166: val_v=2.038 val_pix=8.5px val_grip_acc=0.845 val_rot_acc=0.799 Epoch 167: val_v=2.146 val_pix=8.6px val_grip_acc=0.832 val_rot_acc=0.787 Epoch 168: val_v=2.067 val_pix=8.5px val_grip_acc=0.823 val_rot_acc=0.811 Epoch 169: val_v=2.145 val_pix=8.7px val_grip_acc=0.831 val_rot_acc=0.794 Epoch 170: val_v=1.984 val_pix=8.7px val_grip_acc=0.837 val_rot_acc=0.804 Epoch 171: val_v=2.489 val_pix=9.0px val_grip_acc=0.821 val_rot_acc=0.779 Epoch 172: val_v=2.020 val_pix=8.7px val_grip_acc=0.834 val_rot_acc=0.793 Epoch 173: val_v=2.113 val_pix=8.9px val_grip_acc=0.829 val_rot_acc=0.800 Epoch 174: val_v=2.144 val_pix=8.5px val_grip_acc=0.838 val_rot_acc=0.795 Epoch 175: val_v=2.127 val_pix=8.5px val_grip_acc=0.836 val_rot_acc=0.810 Epoch 176: val_v=2.247 val_pix=8.8px val_grip_acc=0.832 val_rot_acc=0.794 Epoch 177: val_v=2.267 val_pix=8.6px val_grip_acc=0.837 val_rot_acc=0.796 Epoch 178: val_v=2.086 val_pix=8.7px val_grip_acc=0.828 val_rot_acc=0.803 Epoch 179: val_v=2.036 val_pix=8.7px val_grip_acc=0.832 val_rot_acc=0.809 Epoch 180: val_v=2.344 val_pix=9.0px val_grip_acc=0.834 val_rot_acc=0.801 Epoch 181: val_v=2.085 val_pix=8.5px val_grip_acc=0.840 val_rot_acc=0.809 Epoch 182: val_v=2.106 val_pix=8.5px val_grip_acc=0.841 val_rot_acc=0.802 Epoch 183: val_v=2.137 val_pix=8.5px val_grip_acc=0.849 val_rot_acc=0.813 Epoch 184: val_v=2.165 val_pix=8.7px val_grip_acc=0.833 val_rot_acc=0.803 Epoch 185: val_v=2.242 val_pix=8.6px val_grip_acc=0.836 val_rot_acc=0.796 Epoch 186: val_v=2.037 val_pix=8.8px val_grip_acc=0.844 val_rot_acc=0.799 Epoch 187: val_v=1.931 val_pix=8.7px val_grip_acc=0.850 val_rot_acc=0.807 Epoch 188: val_v=2.222 val_pix=9.0px val_grip_acc=0.836 val_rot_acc=0.804 Epoch 189: val_v=2.220 val_pix=8.7px val_grip_acc=0.833 val_rot_acc=0.807 Epoch 190: val_v=2.391 val_pix=8.8px val_grip_acc=0.833 val_rot_acc=0.792 Epoch 191: val_v=2.310 val_pix=8.7px val_grip_acc=0.839 val_rot_acc=0.797 Epoch 192: val_v=2.346 val_pix=8.9px val_grip_acc=0.836 val_rot_acc=0.809 Epoch 193: val_v=2.284 val_pix=8.6px val_grip_acc=0.837 val_rot_acc=0.812 Epoch 194: val_v=2.213 val_pix=8.8px val_grip_acc=0.837 val_rot_acc=0.799 Epoch 195: val_v=2.282 val_pix=9.1px val_grip_acc=0.836 val_rot_acc=0.791 Epoch 196: val_v=2.203 val_pix=8.8px val_grip_acc=0.839 val_rot_acc=0.802 Epoch 197: val_v=2.318 val_pix=8.9px val_grip_acc=0.843 val_rot_acc=0.805 Epoch 198: val_v=2.071 val_pix=8.8px val_grip_acc=0.844 val_rot_acc=0.808 Epoch 199: val_v=2.285 val_pix=8.7px val_grip_acc=0.835 val_rot_acc=0.801