/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/sympy/external/gmpy.py:139: UserWarning: gmpy2 version is too old to use (2.0.0 or newer required) gmpy = import_module('gmpy2', min_module_version=_GMPY2_MIN_VERSION, Device: cuda dataset /data/cameron/mac_robot_datasets/dataset_20260506_124503: 11 episodes dataset /data/cameron/mac_robot_datasets/dataset_20260506_151912: 11 episodes Stats: height=[0.0321, 0.1866], gripper=recorded range [-0.074, +1.450] (861 samples) Loading MuJoCo model: /home/cameronsmith/mnt/mac/smith300_para_stuff/example_twolink.xml Pre-computing per-frame data for 302 frames (running arm FK) Smith300Dataset: 11 episodes, 247 samples, stride=1 Loading MuJoCo model: /home/cameronsmith/mnt/mac/smith300_para_stuff/example_twolink.xml Pre-computing per-frame data for 302 frames (running arm FK) Smith300Dataset: 11 episodes, 247 samples, stride=1 dataset_20260506_124503: train=210, val=37, total=247 Loading MuJoCo model: /home/cameronsmith/mnt/mac/smith300_para_stuff/example_twolink.xml Pre-computing per-frame data for 559 frames (using saved EEF poses (UMI)) Smith300Dataset: 11 episodes, 504 samples, stride=1 Loading MuJoCo model: /home/cameronsmith/mnt/mac/smith300_para_stuff/example_twolink.xml Pre-computing per-frame data for 559 frames (using saved EEF poses (UMI)) Smith300Dataset: 11 episodes, 504 samples, stride=1 dataset_20260506_151912: train=429, val=75, total=504 Combined: train=639, val=112, color_aug=ON Loading DINOv2 model... ✓ DINOv2 backbone is trainable ✓ DINO embedding dim: 384 ✓ Learnable start keypoint embedding (dim=384) ✓ Feature convs: 3× Conv2d(3×3) at pred_size=64 ✓ Volume head → (B, 6, 32, 64, 64) ✓ Gripper MLP → (B, 6, 10) [CE, indexed at query pixel] ✓ Rotation MLP → (B, 6, 3, 32) [CE, indexed at query pixel] wandb: Using wandb-core as the SDK backend. Please refer to https://wandb.me/wandb-core for more information. wandb: Currently logged in as: cameronsmithbusiness. Use `wandb login --relogin` to force relogin wandb: Tracking run with wandb version 0.18.3 wandb: Run data is saved locally in /data/cameron/para/para_mac/wandb/run-20260506_200010-zlmc0u5c wandb: Run `wandb offline` to turn off syncing. wandb: Syncing run towel_umi_combined_v0 wandb: ⭐️ View project at https://wandb.ai/cameronsmithbusiness/para_smith300 wandb: 🚀 View run at https://wandb.ai/cameronsmithbusiness/para_smith300/runs/zlmc0u5c Vis error: 'world_to_camera' Epoch 0 | train=18.6789 | val=16.3701 | px_err=5.0px Traceback (most recent call last): File "/data/cameron/para/para_mac/train_smith300_para.py", line 653, in File "/data/cameron/para/para_mac/train_smith300_para.py", line 535, in main for epoch in range(args.epochs): File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 630, in __next__ data = self._next_data() File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 674, in _next_data data = self._dataset_fetcher.fetch(index) # may raise StopIteration File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in fetch data = [self.dataset[idx] for idx in possibly_batched_index] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in data = [self.dataset[idx] for idx in possibly_batched_index] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 302, in __getitem__ return self.datasets[dataset_idx][sample_idx] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 356, in __getitem__ return self.dataset[self.indices[idx]] File "/data/cameron/para/para_mac/data_smith300_para.py", line 278, in __getitem__ rgb = self._load_rgb_resized(frame_idx) File "/data/cameron/para/para_mac/data_smith300_para.py", line 260, in _load_rgb_resized bgr = cv2.resize(bgr, (self.image_size, self.image_size), KeyboardInterrupt Traceback (most recent call last): File "/data/cameron/para/para_mac/train_smith300_para.py", line 653, in File "/data/cameron/para/para_mac/train_smith300_para.py", line 535, in main for epoch in range(args.epochs): File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 630, in __next__ data = self._next_data() File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 674, in _next_data data = self._dataset_fetcher.fetch(index) # may raise StopIteration File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in fetch data = [self.dataset[idx] for idx in possibly_batched_index] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in data = [self.dataset[idx] for idx in possibly_batched_index] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 302, in __getitem__ return self.datasets[dataset_idx][sample_idx] File "/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 356, in __getitem__ return self.dataset[self.indices[idx]] File "/data/cameron/para/para_mac/data_smith300_para.py", line 278, in __getitem__ rgb = self._load_rgb_resized(frame_idx) File "/data/cameron/para/para_mac/data_smith300_para.py", line 260, in _load_rgb_resized bgr = cv2.resize(bgr, (self.image_size, self.image_size), KeyboardInterrupt wandb: 🚀 View run towel_umi_combined_v0 at: https://wandb.ai/cameronsmithbusiness/para_smith300/runs/zlmc0u5c wandb: Find logs at: wandb/run-20260506_200010-zlmc0u5c/logs