Loading dataset...
Smith300DA3Dataset: loading 9 sessions
  dataset_20260512_161202: 123 frames loaded
  dataset_20260512_161418: 107 frames loaded
  dataset_20260512_161822: 123 frames loaded
  dataset_20260512_162057: 102 frames loaded
  dataset_20260512_162940: 138 frames loaded
  dataset_20260512_163220: 91 frames loaded
  dataset_20260512_163457: 97 frames loaded
  dataset_20260516_163657: 133 frames loaded
  extra_singleview_capture: 616 frames loaded
Smith300DA3Dataset ready: 62 eps, 1530 frames, 1468 samples, rgb=4.66 GB, depth=1.55 GB
  Train: 1395  Val: 73
Building model...
[INFO ] using MLP layer as FFN
Loading weights from local directory
Trainable: 25,932,928
Epoch 7:  97%|█████████▋| 168/174 [00:26<00:00,  6.69it/s, d=0.453, h=9.319, w_d=2.4, w_h=0.11]  
Epoch 0: val_h=11.0094  val_d=0.2961  val_pix=91.0px
  ✓ best (val_h=11.0094)
Epoch 1: val_h=10.7861  val_d=0.2828  val_pix=86.8px
  ✓ best (val_h=10.7861)
Epoch 2: val_h=10.5695  val_d=0.2305  val_pix=99.2px
  ✓ best (val_h=10.5695)
Epoch 3: val_h=10.3200  val_d=0.2461  val_pix=74.6px
  ✓ best (val_h=10.3200)
Epoch 4: val_h=10.1294  val_d=0.2780  val_pix=79.6px
  ✓ best (val_h=10.1294)
Epoch 5: val_h=9.8436  val_d=0.2912  val_pix=67.2px
  ✓ best (val_h=9.8436)
Epoch 6: val_h=9.5399  val_d=0.3656  val_pix=58.6px
  ✓ best (val_h=9.5399)