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 0: tr=16.5836 val=10.0772 val_err=108.6mm ✓ best (val_loss=10.0772) Epoch 1: tr=13.4559 val=9.2885 val_err=101.3mm ✓ best (val_loss=9.2885) Epoch 2: tr=11.4461 val=8.2576 val_err=97.0mm ✓ best (val_loss=8.2576) Epoch 3: tr=10.2387 val=8.0195 val_err=98.7mm ✓ best (val_loss=8.0195) Epoch 4: tr=9.6752 val=7.6940 val_err=94.7mm ✓ best (val_loss=7.6940) Epoch 5: tr=9.1016 val=7.4720 val_err=95.5mm ✓ best (val_loss=7.4720) Epoch 6: tr=8.7464 val=7.3138 val_err=97.5mm ✓ best (val_loss=7.3138) Epoch 7: tr=8.4531 val=7.2076 val_err=95.6mm ✓ best (val_loss=7.2076) Epoch 8: tr=8.2207 val=7.0767 val_err=94.4mm ✓ best (val_loss=7.0767) Epoch 9: tr=8.0262 val=7.0079 val_err=90.3mm ✓ best (val_loss=7.0079) Epoch 10: tr=7.8503 val=6.9297 val_err=87.8mm ✓ best (val_loss=6.9297) Epoch 11: tr=7.7283 val=6.8623 val_err=84.6mm ✓ best (val_loss=6.8623) Epoch 12: tr=7.5865 val=6.8280 val_err=88.5mm ✓ best (val_loss=6.8280) Epoch 13: tr=7.4564 val=6.7719 val_err=86.2mm ✓ best (val_loss=6.7719) Epoch 14: tr=7.3578 val=6.7441 val_err=84.8mm ✓ best (val_loss=6.7441) Epoch 15: tr=7.2988 val=6.6557 val_err=85.3mm ✓ best (val_loss=6.6557) Epoch 16: tr=7.1925 val=6.6339 val_err=85.7mm ✓ best (val_loss=6.6339) Epoch 17: tr=7.1575 val=6.6250 val_err=85.7mm ✓ best (val_loss=6.6250) Epoch 18: tr=7.0898 val=6.5424 val_err=85.8mm ✓ best (val_loss=6.5424) Epoch 19: tr=7.0539 val=6.6244 val_err=84.0mm Epoch 20: tr=6.9929 val=6.4857 val_err=85.2mm ✓ best (val_loss=6.4857) Epoch 21: tr=6.9349 val=6.4646 val_err=83.1mm ✓ best (val_loss=6.4646) Epoch 22: tr=6.9029 val=6.4686 val_err=82.1mm Epoch 23: tr=6.8791 val=6.4562 val_err=82.5mm ✓ best (val_loss=6.4562) Epoch 24: tr=6.8502 val=6.4161 val_err=82.9mm ✓ best (val_loss=6.4161) Epoch 25: tr=6.7908 val=6.3914 val_err=83.7mm ✓ best (val_loss=6.3914) Epoch 26: tr=6.7731 val=6.3972 val_err=81.4mm Epoch 27: tr=6.7373 val=6.3770 val_err=82.5mm ✓ best (val_loss=6.3770) Epoch 28: tr=6.7185 val=6.3430 val_err=83.2mm ✓ best (val_loss=6.3430) Epoch 29: tr=6.7105 val=6.3264 val_err=81.5mm ✓ best (val_loss=6.3264) Epoch 30: tr=6.6768 val=6.3072 val_err=79.5mm ✓ best (val_loss=6.3072) Epoch 31: tr=6.6238 val=6.3145 val_err=80.8mm Epoch 32: tr=6.6095 val=6.2688 val_err=80.5mm ✓ best (val_loss=6.2688) Epoch 33: tr=6.6016 val=6.2620 val_err=81.4mm ✓ best (val_loss=6.2620) Epoch 34: tr=6.5919 val=6.2426 val_err=79.8mm ✓ best (val_loss=6.2426) Epoch 35: tr=6.5343 val=6.2346 val_err=77.3mm ✓ best (val_loss=6.2346) Epoch 36: tr=6.5230 val=6.2095 val_err=81.3mm ✓ best (val_loss=6.2095) Epoch 37: tr=6.5196 val=6.1664 val_err=78.4mm ✓ best (val_loss=6.1664) Epoch 38: tr=6.4697 val=6.1678 val_err=73.3mm Epoch 39: tr=6.4455 val=6.1490 val_err=69.6mm ✓ best (val_loss=6.1490) Epoch 40: tr=6.3766 val=6.0364 val_err=68.5mm ✓ best (val_loss=6.0364) Epoch 41: tr=6.3079 val=5.9918 val_err=64.5mm ✓ best (val_loss=5.9918) Epoch 42: tr=6.2505 val=5.9411 val_err=66.1mm ✓ best (val_loss=5.9411) Epoch 43: tr=6.2329 val=5.9198 val_err=66.5mm ✓ best (val_loss=5.9198) Epoch 44: tr=6.1382 val=5.8719 val_err=66.2mm ✓ best (val_loss=5.8719) Epoch 45: tr=6.1100 val=5.8944 val_err=64.9mm Epoch 46: tr=6.0766 val=5.8685 val_err=62.3mm ✓ best (val_loss=5.8685) Epoch 47: tr=6.0748 val=5.8491 val_err=61.8mm ✓ best (val_loss=5.8491) Epoch 48: tr=6.0431 val=5.7751 val_err=61.6mm ✓ best (val_loss=5.7751) Epoch 49: tr=6.0641 val=5.8227 val_err=62.1mm