Loading dataset...
HistoryTrajectoryDataset: 20 demos, 1888 samples (H=20, stride=1)
  Train: 1794  Val: 94

Building model...
Loading DINOv3 backbone (frozen=True)...
/data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/nn/modules/transformer.py:282: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
  warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
Trainable params: 8,603,968 / 37,301,440 (23.07%)
Epoch 1 train:  33%|███▎      | 595/1794 [05:14<10:10,  1.96it/s, loss=3.0143]  
Epoch 0: train_loss=5.4102  val_loss=4.2904  val_px_err=30.1px
  ✓ best (val_loss=4.2904)