Loading in-memory dataset...
Smith300VolumeDataset: loading 9 sessions from /data/cameron/mac_robot_datasets/first_mobile_collection
  dataset_20260512_161202: 5 eps, 123 frames loaded
  dataset_20260512_161418: 5 eps, 107 frames loaded
  dataset_20260512_161822: 6 eps, 123 frames loaded
  dataset_20260512_162057: 5 eps, 102 frames loaded
  dataset_20260512_162940: 6 eps, 138 frames loaded
  dataset_20260512_163220: 4 eps, 91 frames loaded
  dataset_20260512_163457: 5 eps, 97 frames loaded
  dataset_20260516_163657: 7 eps, 133 frames loaded
  extra_singleview_capture: 19 eps, 616 frames loaded
Smith300VolumeDataset ready: 62 episodes, 1530 frames, 1468 samples, rgb tensor torch.Size([1530, 3, 448, 448]) (3.68 GB)
  Train: 1395  Val: 73
Building model...
Loading DINOv3 (frozen=True)...
Trainable: 64,737 / 28,762,209
Epoch 8 train:  80%|████████  | 4/5 [00:33<00:08,  8.34s/it, g=0.046, loss=9.303, r=1.518, v=8.316]  
Epoch 0: tr=16.1560  val=10.2186  val_err=117.3mm
  ✓ best (val_loss=10.2186)
Epoch 1: tr=13.7656  val=9.8303  val_err=130.6mm
  ✓ best (val_loss=9.8303)
Epoch 2: tr=12.1194  val=9.0889  val_err=110.0mm
  ✓ best (val_loss=9.0889)
Epoch 3: tr=10.8296  val=8.5409  val_err=107.1mm
  ✓ best (val_loss=8.5409)
Epoch 4: tr=10.2597  val=8.5381  val_err=90.0mm
  ✓ best (val_loss=8.5381)
Epoch 5: tr=9.8976  val=8.3352  val_err=91.3mm
  ✓ best (val_loss=8.3352)
Epoch 6: tr=9.6191  val=8.3188  val_err=92.5mm
  ✓ best (val_loss=8.3188)
Epoch 7: tr=9.4353  val=8.2522  val_err=92.4mm
  ✓ best (val_loss=8.2522)