Loading dataset: /data/cameron/mac_robot_datasets (whitelist=['home_towel']) n_window=50 Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) home_towel: 231 frames loaded Rotation: k-means mode (K=8), basis=/data/cameron/para/libero/rotation_kmeans_basis_home_towel_n8.npz, bin counts=[23, 38, 21, 29, 24, 46, 17, 33] Smith300DA3VolumeDataset ready: 5 eps, 231 frames, 226 samples, rgb=0.70 GB, depth=0.23 GB Height range observed: [0.0384, 0.1739] → padded [0.0316, 0.1806], 32 bins of ~4.7mm each Z-bin occupancy: min=0, max=29, empty_bins=2 Dataset rotation_mode=kmeans Train: 215 Val: 11 Building model... Trainable: 30,362,312 Resuming DINO weights from /data/cameron/para/libero/checkpoints/dino_query_desk_collect_1_t50_pca1d_v0/latest.pth loaded=256 keys (expect ~DINO trunk), missing=2, unexpected=0 Epoch 0: val_v=8.576 val_pix=69.8px val_grip_acc=0.053 val_rot_acc=0.118 Epoch 1: val_v=6.956 val_pix=63.6px val_grip_acc=0.153 val_rot_acc=0.099 Epoch 2: val_v=5.681 val_pix=33.1px val_grip_acc=0.282 val_rot_acc=0.099 Epoch 3: val_v=5.083 val_pix=29.9px val_grip_acc=0.328 val_rot_acc=0.061 Epoch 4: val_v=4.408 val_pix=23.2px val_grip_acc=0.321 val_rot_acc=0.103 Epoch 5: val_v=4.013 val_pix=23.3px val_grip_acc=0.347 val_rot_acc=0.118 Epoch 6: val_v=3.798 val_pix=25.1px val_grip_acc=0.336 val_rot_acc=0.225 Epoch 7: val_v=3.533 val_pix=21.9px val_grip_acc=0.344 val_rot_acc=0.286 Epoch 8: val_v=3.421 val_pix=18.4px val_grip_acc=0.427 val_rot_acc=0.344 Epoch 9: val_v=3.385 val_pix=21.1px val_grip_acc=0.431 val_rot_acc=0.385 Epoch 10: val_v=3.275 val_pix=17.9px val_grip_acc=0.443 val_rot_acc=0.435 Epoch 11: val_v=3.291 val_pix=20.9px val_grip_acc=0.477 val_rot_acc=0.359 Epoch 12: val_v=3.005 val_pix=16.3px val_grip_acc=0.477 val_rot_acc=0.378 Epoch 13: val_v=2.927 val_pix=15.1px val_grip_acc=0.523 val_rot_acc=0.405 Epoch 14: val_v=2.957 val_pix=14.7px val_grip_acc=0.538 val_rot_acc=0.412 Epoch 15: val_v=2.868 val_pix=14.2px val_grip_acc=0.565 val_rot_acc=0.382 Epoch 16: val_v=2.780 val_pix=14.3px val_grip_acc=0.553 val_rot_acc=0.416 Epoch 17: val_v=2.694 val_pix=13.6px val_grip_acc=0.553 val_rot_acc=0.401 Epoch 18: val_v=2.638 val_pix=14.8px val_grip_acc=0.550 val_rot_acc=0.378 Epoch 19: val_v=2.488 val_pix=13.2px val_grip_acc=0.576 val_rot_acc=0.370 Epoch 20: val_v=2.474 val_pix=14.0px val_grip_acc=0.592 val_rot_acc=0.397 Epoch 21: val_v=2.576 val_pix=14.4px val_grip_acc=0.553 val_rot_acc=0.378 Epoch 22: val_v=2.538 val_pix=13.4px val_grip_acc=0.561 val_rot_acc=0.389 Epoch 23: val_v=2.518 val_pix=12.4px val_grip_acc=0.592 val_rot_acc=0.443 Epoch 24: val_v=2.386 val_pix=11.6px val_grip_acc=0.584 val_rot_acc=0.420 Epoch 25: val_v=2.407 val_pix=13.8px val_grip_acc=0.599 val_rot_acc=0.447 Epoch 26: val_v=2.547 val_pix=14.8px val_grip_acc=0.588 val_rot_acc=0.435 Epoch 27: val_v=2.292 val_pix=14.5px val_grip_acc=0.626 val_rot_acc=0.454 Epoch 28: val_v=2.423 val_pix=14.5px val_grip_acc=0.637 val_rot_acc=0.469 Epoch 29: val_v=2.790 val_pix=14.4px val_grip_acc=0.618 val_rot_acc=0.504 Epoch 30: val_v=2.707 val_pix=17.7px val_grip_acc=0.653 val_rot_acc=0.447 Epoch 31: val_v=2.296 val_pix=12.4px val_grip_acc=0.615 val_rot_acc=0.492 Epoch 32: val_v=2.242 val_pix=13.0px val_grip_acc=0.679 val_rot_acc=0.489 Epoch 33: val_v=2.409 val_pix=13.4px val_grip_acc=0.683 val_rot_acc=0.500 Epoch 34: val_v=2.318 val_pix=13.9px val_grip_acc=0.634 val_rot_acc=0.481 Epoch 35: val_v=2.320 val_pix=14.1px val_grip_acc=0.679 val_rot_acc=0.489 Epoch 36: val_v=2.417 val_pix=12.9px val_grip_acc=0.679 val_rot_acc=0.542 Epoch 37: val_v=2.136 val_pix=12.4px val_grip_acc=0.649 val_rot_acc=0.504 Epoch 38: val_v=2.171 val_pix=13.1px val_grip_acc=0.695 val_rot_acc=0.511 Epoch 39: val_v=2.263 val_pix=13.3px val_grip_acc=0.702 val_rot_acc=0.511 Epoch 40: val_v=2.122 val_pix=11.9px val_grip_acc=0.687 val_rot_acc=0.511 Epoch 41: val_v=2.077 val_pix=11.2px val_grip_acc=0.710 val_rot_acc=0.542 Epoch 42: val_v=2.329 val_pix=13.7px val_grip_acc=0.687 val_rot_acc=0.515 Epoch 43: val_v=2.117 val_pix=11.3px val_grip_acc=0.733 val_rot_acc=0.557 Epoch 44: val_v=2.314 val_pix=13.8px val_grip_acc=0.660 val_rot_acc=0.519 Epoch 45: val_v=2.021 val_pix=11.0px val_grip_acc=0.729 val_rot_acc=0.569 Epoch 46: val_v=2.083 val_pix=11.0px val_grip_acc=0.718 val_rot_acc=0.592 Epoch 47: val_v=2.460 val_pix=14.3px val_grip_acc=0.691 val_rot_acc=0.573 Epoch 48: val_v=2.031 val_pix=11.5px val_grip_acc=0.702 val_rot_acc=0.565 Epoch 49: val_v=2.248 val_pix=12.2px val_grip_acc=0.725 val_rot_acc=0.569 Epoch 50: val_v=2.156 val_pix=11.6px val_grip_acc=0.695 val_rot_acc=0.592 Epoch 51: val_v=2.100 val_pix=11.4px val_grip_acc=0.725 val_rot_acc=0.588 Epoch 52: val_v=2.312 val_pix=13.3px val_grip_acc=0.725 val_rot_acc=0.588 Epoch 53: val_v=2.277 val_pix=13.2px val_grip_acc=0.710 val_rot_acc=0.580 Epoch 54: val_v=2.099 val_pix=13.0px val_grip_acc=0.714 val_rot_acc=0.611 Epoch 55: val_v=2.136 val_pix=12.1px val_grip_acc=0.710 val_rot_acc=0.607 Epoch 56: val_v=2.410 val_pix=14.0px val_grip_acc=0.710 val_rot_acc=0.603 Epoch 57: val_v=2.057 val_pix=11.7px val_grip_acc=0.729 val_rot_acc=0.584 Epoch 58: val_v=2.125 val_pix=11.6px val_grip_acc=0.725 val_rot_acc=0.607 Epoch 59: val_v=2.299 val_pix=11.9px val_grip_acc=0.718 val_rot_acc=0.634 Epoch 60: val_v=2.289 val_pix=12.3px val_grip_acc=0.721 val_rot_acc=0.637 Epoch 61: val_v=2.274 val_pix=12.4px val_grip_acc=0.714 val_rot_acc=0.599 Epoch 62: val_v=2.217 val_pix=12.3px val_grip_acc=0.714 val_rot_acc=0.618 Epoch 63: val_v=2.132 val_pix=10.9px val_grip_acc=0.721 val_rot_acc=0.618 Epoch 64: val_v=2.174 val_pix=12.7px val_grip_acc=0.721 val_rot_acc=0.645 Epoch 65: val_v=2.264 val_pix=12.3px val_grip_acc=0.714 val_rot_acc=0.649 Epoch 66: val_v=2.141 val_pix=11.6px val_grip_acc=0.714 val_rot_acc=0.641 Epoch 67: val_v=2.416 val_pix=14.1px val_grip_acc=0.710 val_rot_acc=0.641 Epoch 68: val_v=2.316 val_pix=11.9px val_grip_acc=0.702 val_rot_acc=0.656 Epoch 69: val_v=2.518 val_pix=14.6px val_grip_acc=0.710 val_rot_acc=0.618 Epoch 70: val_v=1.968 val_pix=11.6px val_grip_acc=0.740 val_rot_acc=0.660 Epoch 71: val_v=1.962 val_pix=11.1px val_grip_acc=0.721 val_rot_acc=0.664 Epoch 72: val_v=2.275 val_pix=12.5px val_grip_acc=0.721 val_rot_acc=0.660 Epoch 73: val_v=2.112 val_pix=12.7px val_grip_acc=0.718 val_rot_acc=0.672 Epoch 74: val_v=2.494 val_pix=12.8px val_grip_acc=0.710 val_rot_acc=0.622 Epoch 75: val_v=2.080 val_pix=11.9px val_grip_acc=0.725 val_rot_acc=0.687 Epoch 76: val_v=2.490 val_pix=13.4px val_grip_acc=0.718 val_rot_acc=0.649 Epoch 77: val_v=2.188 val_pix=12.1px val_grip_acc=0.729 val_rot_acc=0.687 Epoch 78: val_v=2.254 val_pix=13.1px val_grip_acc=0.733 val_rot_acc=0.660 Epoch 79: val_v=1.903 val_pix=10.7px val_grip_acc=0.725 val_rot_acc=0.679 Epoch 80: val_v=2.149 val_pix=11.8px val_grip_acc=0.714 val_rot_acc=0.687 Epoch 81: val_v=2.631 val_pix=14.7px val_grip_acc=0.714 val_rot_acc=0.656 Epoch 82: val_v=2.062 val_pix=11.3px val_grip_acc=0.718 val_rot_acc=0.683 Epoch 83: val_v=2.685 val_pix=15.1px val_grip_acc=0.718 val_rot_acc=0.679 Epoch 84: val_v=2.199 val_pix=12.0px val_grip_acc=0.714 val_rot_acc=0.668 Epoch 85: val_v=2.151 val_pix=13.1px val_grip_acc=0.733 val_rot_acc=0.691 Epoch 86: val_v=2.271 val_pix=13.1px val_grip_acc=0.710 val_rot_acc=0.676 Epoch 87: val_v=2.123 val_pix=12.1px val_grip_acc=0.733 val_rot_acc=0.695 Epoch 88: val_v=2.004 val_pix=11.5px val_grip_acc=0.725 val_rot_acc=0.718 Epoch 89: val_v=2.249 val_pix=12.0px val_grip_acc=0.721 val_rot_acc=0.683 Epoch 90: val_v=2.340 val_pix=12.9px val_grip_acc=0.710 val_rot_acc=0.695 Epoch 91: val_v=1.987 val_pix=11.7px val_grip_acc=0.733 val_rot_acc=0.733 Epoch 92: val_v=2.253 val_pix=12.3px val_grip_acc=0.733 val_rot_acc=0.710 Epoch 93: val_v=2.091 val_pix=11.7px val_grip_acc=0.729 val_rot_acc=0.718 Epoch 94: val_v=2.221 val_pix=12.5px val_grip_acc=0.714 val_rot_acc=0.710 Epoch 95: val_v=2.055 val_pix=11.3px val_grip_acc=0.737 val_rot_acc=0.752 Epoch 96: val_v=2.631 val_pix=13.6px val_grip_acc=0.706 val_rot_acc=0.706 Epoch 97: val_v=2.173 val_pix=12.4px val_grip_acc=0.733 val_rot_acc=0.721 Epoch 98: val_v=2.069 val_pix=11.0px val_grip_acc=0.721 val_rot_acc=0.714 Epoch 99: val_v=2.144 val_pix=12.1px val_grip_acc=0.737 val_rot_acc=0.740 Epoch 100: val_v=2.576 val_pix=13.5px val_grip_acc=0.714 val_rot_acc=0.752 Epoch 101: val_v=2.348 val_pix=12.6px val_grip_acc=0.725 val_rot_acc=0.737 Epoch 102: val_v=2.300 val_pix=12.2px val_grip_acc=0.710 val_rot_acc=0.752 Epoch 103: val_v=2.146 val_pix=11.3px val_grip_acc=0.729 val_rot_acc=0.767 Epoch 104: val_v=2.143 val_pix=11.8px val_grip_acc=0.721 val_rot_acc=0.752 Epoch 105: val_v=2.777 val_pix=13.3px val_grip_acc=0.702 val_rot_acc=0.721 Epoch 106: val_v=2.216 val_pix=11.3px val_grip_acc=0.718 val_rot_acc=0.729 Epoch 107: val_v=2.460 val_pix=12.6px val_grip_acc=0.718 val_rot_acc=0.752 Epoch 108: val_v=2.223 val_pix=12.2px val_grip_acc=0.725 val_rot_acc=0.760 Epoch 109: val_v=2.374 val_pix=11.7px val_grip_acc=0.714 val_rot_acc=0.763 Epoch 110: val_v=2.358 val_pix=12.5px val_grip_acc=0.721 val_rot_acc=0.756 Epoch 111: val_v=2.362 val_pix=11.7px val_grip_acc=0.718 val_rot_acc=0.733 Epoch 112: val_v=2.349 val_pix=12.0px val_grip_acc=0.733 val_rot_acc=0.775 Epoch 113: val_v=2.266 val_pix=11.4px val_grip_acc=0.740 val_rot_acc=0.733 Epoch 114: val_v=2.276 val_pix=11.7px val_grip_acc=0.729 val_rot_acc=0.752 Epoch 115: val_v=2.158 val_pix=11.0px val_grip_acc=0.725 val_rot_acc=0.763 Epoch 116: val_v=2.323 val_pix=11.3px val_grip_acc=0.748 val_rot_acc=0.802 Epoch 117: val_v=2.291 val_pix=11.6px val_grip_acc=0.733 val_rot_acc=0.760 Epoch 118: val_v=2.540 val_pix=12.6px val_grip_acc=0.718 val_rot_acc=0.782 Epoch 119: val_v=2.470 val_pix=11.7px val_grip_acc=0.721 val_rot_acc=0.779 Epoch 120: val_v=2.379 val_pix=11.0px val_grip_acc=0.760 val_rot_acc=0.771 Epoch 121: val_v=2.068 val_pix=11.5px val_grip_acc=0.737 val_rot_acc=0.821 Epoch 122: val_v=2.691 val_pix=12.3px val_grip_acc=0.729 val_rot_acc=0.782 Epoch 123: val_v=2.374 val_pix=11.6px val_grip_acc=0.737 val_rot_acc=0.782 Epoch 124: val_v=2.762 val_pix=12.3px val_grip_acc=0.729 val_rot_acc=0.771 Epoch 125: val_v=2.647 val_pix=12.3px val_grip_acc=0.740 val_rot_acc=0.782 Epoch 126: val_v=2.490 val_pix=12.0px val_grip_acc=0.729 val_rot_acc=0.786 Epoch 127: val_v=2.480 val_pix=11.4px val_grip_acc=0.740 val_rot_acc=0.817 Epoch 128: val_v=2.445 val_pix=11.7px val_grip_acc=0.748 val_rot_acc=0.813 Epoch 129: val_v=2.952 val_pix=12.8px val_grip_acc=0.725 val_rot_acc=0.763 Epoch 130: val_v=2.422 val_pix=11.9px val_grip_acc=0.744 val_rot_acc=0.817 Epoch 131: val_v=2.545 val_pix=11.3px val_grip_acc=0.729 val_rot_acc=0.794 Epoch 132: val_v=2.377 val_pix=11.9px val_grip_acc=0.740 val_rot_acc=0.813 Epoch 133: val_v=2.771 val_pix=12.5px val_grip_acc=0.733 val_rot_acc=0.798 Epoch 134: val_v=2.485 val_pix=12.4px val_grip_acc=0.752 val_rot_acc=0.836 Epoch 135: val_v=2.763 val_pix=11.5px val_grip_acc=0.740 val_rot_acc=0.798 Epoch 136: val_v=2.452 val_pix=11.8px val_grip_acc=0.748 val_rot_acc=0.824 Epoch 137: val_v=2.844 val_pix=12.5px val_grip_acc=0.729 val_rot_acc=0.798 Epoch 138: val_v=2.476 val_pix=11.4px val_grip_acc=0.725 val_rot_acc=0.832 Epoch 139: val_v=2.442 val_pix=11.0px val_grip_acc=0.740 val_rot_acc=0.809 Epoch 140: val_v=2.676 val_pix=12.0px val_grip_acc=0.733 val_rot_acc=0.798 Epoch 141: val_v=2.819 val_pix=12.4px val_grip_acc=0.714 val_rot_acc=0.790 Epoch 142: val_v=2.329 val_pix=11.1px val_grip_acc=0.752 val_rot_acc=0.813 Epoch 143: val_v=2.315 val_pix=11.3px val_grip_acc=0.748 val_rot_acc=0.824 Epoch 144: val_v=3.005 val_pix=12.7px val_grip_acc=0.733 val_rot_acc=0.794 Epoch 145: val_v=2.500 val_pix=12.1px val_grip_acc=0.744 val_rot_acc=0.809 Epoch 146: val_v=2.392 val_pix=11.0px val_grip_acc=0.737 val_rot_acc=0.844 Epoch 147: val_v=2.444 val_pix=11.2px val_grip_acc=0.744 val_rot_acc=0.836 Epoch 148: val_v=3.068 val_pix=12.9px val_grip_acc=0.729 val_rot_acc=0.809 Epoch 149: val_v=2.688 val_pix=11.8px val_grip_acc=0.740 val_rot_acc=0.836 Epoch 150: val_v=2.528 val_pix=11.1px val_grip_acc=0.752 val_rot_acc=0.836 Epoch 151: val_v=2.906 val_pix=12.8px val_grip_acc=0.744 val_rot_acc=0.821 Epoch 152: val_v=2.958 val_pix=13.1px val_grip_acc=0.740 val_rot_acc=0.824 Epoch 153: val_v=2.758 val_pix=11.9px val_grip_acc=0.721 val_rot_acc=0.836 Epoch 154: val_v=2.643 val_pix=11.6px val_grip_acc=0.752 val_rot_acc=0.824 Epoch 155: val_v=3.001 val_pix=13.2px val_grip_acc=0.729 val_rot_acc=0.813 Epoch 156: val_v=3.468 val_pix=13.6px val_grip_acc=0.733 val_rot_acc=0.802 Epoch 157: val_v=2.476 val_pix=11.4px val_grip_acc=0.752 val_rot_acc=0.836 Epoch 158: val_v=2.733 val_pix=11.5px val_grip_acc=0.740 val_rot_acc=0.844 Epoch 159: val_v=2.940 val_pix=12.2px val_grip_acc=0.760 val_rot_acc=0.840 Epoch 160: val_v=2.827 val_pix=11.9px val_grip_acc=0.748 val_rot_acc=0.828 Epoch 161: val_v=2.441 val_pix=11.2px val_grip_acc=0.748 val_rot_acc=0.855 Epoch 162: val_v=2.691 val_pix=11.3px val_grip_acc=0.756 val_rot_acc=0.832 Epoch 163: val_v=2.705 val_pix=12.0px val_grip_acc=0.740 val_rot_acc=0.851 Epoch 164: val_v=2.845 val_pix=12.3px val_grip_acc=0.752 val_rot_acc=0.840 Epoch 165: val_v=2.656 val_pix=11.3px val_grip_acc=0.752 val_rot_acc=0.844 Epoch 166: val_v=3.018 val_pix=12.7px val_grip_acc=0.733 val_rot_acc=0.824 Epoch 167: val_v=2.674 val_pix=11.9px val_grip_acc=0.740 val_rot_acc=0.828 Epoch 168: val_v=2.698 val_pix=11.7px val_grip_acc=0.737 val_rot_acc=0.840 Epoch 169: val_v=2.982 val_pix=12.8px val_grip_acc=0.740 val_rot_acc=0.847 Epoch 170: val_v=2.757 val_pix=11.3px val_grip_acc=0.756 val_rot_acc=0.847 Epoch 171: val_v=2.915 val_pix=11.7px val_grip_acc=0.752 val_rot_acc=0.836 Epoch 172: val_v=3.156 val_pix=13.5px val_grip_acc=0.737 val_rot_acc=0.836 Epoch 173: val_v=3.107 val_pix=12.7px val_grip_acc=0.740 val_rot_acc=0.836 Epoch 174: val_v=2.776 val_pix=11.5px val_grip_acc=0.760 val_rot_acc=0.855 Epoch 175: val_v=3.143 val_pix=12.3px val_grip_acc=0.733 val_rot_acc=0.828 Epoch 176: val_v=2.711 val_pix=11.5px val_grip_acc=0.748 val_rot_acc=0.859 Epoch 177: val_v=2.990 val_pix=12.1px val_grip_acc=0.748 val_rot_acc=0.844 Epoch 178: val_v=2.933 val_pix=12.2px val_grip_acc=0.752 val_rot_acc=0.859 Epoch 179: val_v=2.883 val_pix=11.6px val_grip_acc=0.756 val_rot_acc=0.851 Epoch 180: val_v=2.892 val_pix=11.7px val_grip_acc=0.767 val_rot_acc=0.847 Epoch 181: val_v=3.118 val_pix=12.3px val_grip_acc=0.748 val_rot_acc=0.836 Epoch 182: val_v=3.252 val_pix=12.6px val_grip_acc=0.737 val_rot_acc=0.844 Epoch 183: val_v=2.978 val_pix=11.6px val_grip_acc=0.744 val_rot_acc=0.844 Epoch 184: val_v=2.777 val_pix=11.8px val_grip_acc=0.756 val_rot_acc=0.870 Epoch 185: val_v=3.318 val_pix=12.9px val_grip_acc=0.748 val_rot_acc=0.851 Epoch 186: val_v=3.407 val_pix=13.1px val_grip_acc=0.748 val_rot_acc=0.840 Epoch 187: val_v=2.655 val_pix=11.2px val_grip_acc=0.744 val_rot_acc=0.847 Epoch 188: val_v=3.002 val_pix=12.6px val_grip_acc=0.771 val_rot_acc=0.855 Epoch 189: val_v=2.842 val_pix=12.3px val_grip_acc=0.737 val_rot_acc=0.840 Epoch 190: val_v=2.746 val_pix=11.9px val_grip_acc=0.760 val_rot_acc=0.863 Epoch 191: val_v=3.203 val_pix=12.7px val_grip_acc=0.740 val_rot_acc=0.847 Epoch 192: val_v=3.401 val_pix=12.9px val_grip_acc=0.744 val_rot_acc=0.832 Epoch 193: val_v=3.057 val_pix=11.8px val_grip_acc=0.737 val_rot_acc=0.836 Epoch 194: val_v=2.717 val_pix=11.3px val_grip_acc=0.756 val_rot_acc=0.851 Epoch 195: val_v=3.550 val_pix=13.7px val_grip_acc=0.740 val_rot_acc=0.832 Epoch 196: val_v=3.093 val_pix=12.2px val_grip_acc=0.748 val_rot_acc=0.840 Epoch 197: val_v=2.574 val_pix=11.4px val_grip_acc=0.763 val_rot_acc=0.855 Epoch 198: val_v=2.903 val_pix=11.9px val_grip_acc=0.763 val_rot_acc=0.863 Epoch 199: val_v=3.078 val_pix=12.1px val_grip_acc=0.744 val_rot_acc=0.836