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 5:  53%|█████▎    | 93/174 [00:24<00:38,  2.13it/s, d=0.025, h=9.892, w_d=36, w_h=0.099]   
Epoch 0: val_h=11.1064  val_d=0.0534  val_pix=147.6px
  ✓ best (val_h=11.1064)
Epoch 1: val_h=10.8256  val_d=0.0440  val_pix=94.0px
  ✓ best (val_h=10.8256)
Epoch 2: val_h=10.5672  val_d=0.0431  val_pix=97.6px
  ✓ best (val_h=10.5672)
Epoch 3: val_h=10.3489  val_d=0.0381  val_pix=102.2px
  ✓ best (val_h=10.3489)
Epoch 4: val_h=10.1471  val_d=0.0375  val_pix=92.3px
  ✓ best (val_h=10.1471)