Loading dataset: /data/cameron/mac_robot_datasets/first_mobile_collection (whitelist=['izzy_home_recording_3']) n_window=50 Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) izzy_home_recording_3: 698 frames loaded Smith300DA3VolumeDataset ready: 11 eps, 698 frames, 687 samples, rgb=2.13 GB, depth=0.71 GB Height range observed: [0.0374, 0.2093] → padded [0.0288, 0.2179], 32 bins of ~5.9mm each Z-bin occupancy: min=0, max=49, empty_bins=2 Train: 653 Val: 34 Building model... Trainable: 30,368,032 Resuming DINO weights from /data/cameron/para/libero/checkpoints/da3_dino_kv_full_izzy2_pca_t5L_v1/latest.pth loaded=212 keys (expect ~DINO trunk), missing=46, unexpected=0 Epoch 0: val_v=7.139 val_pix=69.6px val_grip_acc=0.704 val_rot_acc=0.038 Epoch 1: val_v=6.099 val_pix=67.7px val_grip_acc=0.694 val_rot_acc=0.046 Epoch 2: val_v=5.451 val_pix=66.9px val_grip_acc=0.694 val_rot_acc=0.054 Epoch 3: val_v=4.893 val_pix=42.1px val_grip_acc=0.696 val_rot_acc=0.085 Epoch 4: val_v=4.538 val_pix=28.8px val_grip_acc=0.696 val_rot_acc=0.086 Epoch 5: val_v=4.409 val_pix=30.4px val_grip_acc=0.708 val_rot_acc=0.106 Epoch 6: val_v=4.193 val_pix=31.3px val_grip_acc=0.712 val_rot_acc=0.105 Epoch 7: val_v=4.246 val_pix=34.4px val_grip_acc=0.708 val_rot_acc=0.134 Epoch 8: val_v=3.982 val_pix=25.0px val_grip_acc=0.712 val_rot_acc=0.116 Epoch 9: val_v=3.981 val_pix=24.4px val_grip_acc=0.712 val_rot_acc=0.124 Epoch 10: val_v=4.018 val_pix=27.7px val_grip_acc=0.707 val_rot_acc=0.128 Epoch 11: val_v=4.043 val_pix=20.6px val_grip_acc=0.713 val_rot_acc=0.127 Epoch 12: val_v=3.972 val_pix=22.7px val_grip_acc=0.711 val_rot_acc=0.132 Epoch 13: val_v=3.793 val_pix=20.4px val_grip_acc=0.713 val_rot_acc=0.131 Epoch 14: val_v=3.595 val_pix=17.0px val_grip_acc=0.718 val_rot_acc=0.133 Epoch 15: val_v=3.656 val_pix=19.1px val_grip_acc=0.716 val_rot_acc=0.152 Epoch 16: val_v=3.610 val_pix=18.4px val_grip_acc=0.722 val_rot_acc=0.144 Epoch 17: val_v=3.686 val_pix=17.7px val_grip_acc=0.724 val_rot_acc=0.163 Epoch 18: val_v=3.725 val_pix=20.5px val_grip_acc=0.736 val_rot_acc=0.148 Epoch 19: val_v=3.544 val_pix=19.4px val_grip_acc=0.756 val_rot_acc=0.177 Epoch 20: val_v=3.555 val_pix=16.4px val_grip_acc=0.741 val_rot_acc=0.169 Epoch 21: val_v=3.441 val_pix=16.7px val_grip_acc=0.757 val_rot_acc=0.177 Epoch 22: val_v=3.301 val_pix=15.7px val_grip_acc=0.751 val_rot_acc=0.179 Epoch 23: val_v=3.447 val_pix=18.8px val_grip_acc=0.764 val_rot_acc=0.194 Epoch 24: val_v=3.718 val_pix=17.4px val_grip_acc=0.753 val_rot_acc=0.182 Epoch 25: val_v=3.269 val_pix=16.1px val_grip_acc=0.780 val_rot_acc=0.192 Epoch 26: val_v=3.167 val_pix=14.8px val_grip_acc=0.780 val_rot_acc=0.190 Epoch 27: val_v=3.202 val_pix=15.5px val_grip_acc=0.766 val_rot_acc=0.200 Epoch 28: val_v=3.211 val_pix=15.8px val_grip_acc=0.780 val_rot_acc=0.205 Epoch 29: val_v=3.279 val_pix=14.9px val_grip_acc=0.770 val_rot_acc=0.204 Epoch 30: val_v=3.107 val_pix=15.4px val_grip_acc=0.781 val_rot_acc=0.213 Epoch 31: val_v=3.018 val_pix=13.6px val_grip_acc=0.777 val_rot_acc=0.229 Epoch 32: val_v=3.197 val_pix=15.6px val_grip_acc=0.780 val_rot_acc=0.212 Epoch 33: val_v=3.017 val_pix=14.2px val_grip_acc=0.778 val_rot_acc=0.216 Epoch 34: val_v=3.058 val_pix=14.3px val_grip_acc=0.782 val_rot_acc=0.227 Epoch 35: val_v=2.979 val_pix=13.6px val_grip_acc=0.780 val_rot_acc=0.216 Epoch 36: val_v=3.114 val_pix=15.2px val_grip_acc=0.782 val_rot_acc=0.220 Epoch 37: val_v=2.955 val_pix=14.5px val_grip_acc=0.777 val_rot_acc=0.233 Epoch 38: val_v=3.028 val_pix=15.5px val_grip_acc=0.782 val_rot_acc=0.219 Epoch 39: val_v=2.853 val_pix=14.4px val_grip_acc=0.785 val_rot_acc=0.211 Epoch 40: val_v=2.821 val_pix=15.2px val_grip_acc=0.771 val_rot_acc=0.232 Epoch 41: val_v=2.823 val_pix=13.9px val_grip_acc=0.784 val_rot_acc=0.216 Epoch 42: val_v=2.658 val_pix=12.5px val_grip_acc=0.772 val_rot_acc=0.234 Epoch 43: val_v=2.820 val_pix=14.1px val_grip_acc=0.782 val_rot_acc=0.218 Epoch 44: val_v=2.783 val_pix=15.3px val_grip_acc=0.785 val_rot_acc=0.220 Epoch 45: val_v=2.776 val_pix=14.1px val_grip_acc=0.788 val_rot_acc=0.237 Epoch 46: val_v=2.797 val_pix=14.7px val_grip_acc=0.786 val_rot_acc=0.233 Epoch 47: val_v=2.624 val_pix=13.1px val_grip_acc=0.789 val_rot_acc=0.236 Epoch 48: val_v=2.616 val_pix=13.8px val_grip_acc=0.788 val_rot_acc=0.233 Epoch 49: val_v=2.562 val_pix=13.0px val_grip_acc=0.791 val_rot_acc=0.227 Epoch 50: val_v=2.564 val_pix=11.8px val_grip_acc=0.789 val_rot_acc=0.243 Epoch 51: val_v=2.793 val_pix=14.3px val_grip_acc=0.793 val_rot_acc=0.238 Epoch 52: val_v=2.564 val_pix=13.5px val_grip_acc=0.792 val_rot_acc=0.242 Epoch 53: val_v=2.855 val_pix=13.2px val_grip_acc=0.789 val_rot_acc=0.252 Epoch 54: val_v=2.592 val_pix=13.6px val_grip_acc=0.791 val_rot_acc=0.239 Epoch 55: val_v=2.680 val_pix=13.1px val_grip_acc=0.791 val_rot_acc=0.243 Epoch 56: val_v=2.862 val_pix=15.5px val_grip_acc=0.792 val_rot_acc=0.244 Epoch 57: val_v=2.832 val_pix=13.5px val_grip_acc=0.794 val_rot_acc=0.270 Epoch 58: val_v=2.548 val_pix=13.4px val_grip_acc=0.783 val_rot_acc=0.254 Epoch 59: val_v=2.996 val_pix=14.1px val_grip_acc=0.792 val_rot_acc=0.263 Epoch 60: val_v=2.696 val_pix=14.9px val_grip_acc=0.792 val_rot_acc=0.264 Epoch 61: val_v=2.517 val_pix=13.1px val_grip_acc=0.794 val_rot_acc=0.259 Epoch 62: val_v=2.523 val_pix=12.8px val_grip_acc=0.793 val_rot_acc=0.293 Epoch 63: val_v=2.428 val_pix=12.1px val_grip_acc=0.794 val_rot_acc=0.284 Epoch 64: val_v=2.558 val_pix=13.3px val_grip_acc=0.796 val_rot_acc=0.306 Epoch 65: val_v=2.544 val_pix=12.0px val_grip_acc=0.795 val_rot_acc=0.296 Epoch 66: val_v=2.554 val_pix=12.4px val_grip_acc=0.796 val_rot_acc=0.312 Epoch 67: val_v=2.741 val_pix=12.5px val_grip_acc=0.787 val_rot_acc=0.298 Epoch 68: val_v=2.546 val_pix=12.6px val_grip_acc=0.794 val_rot_acc=0.303 Epoch 69: val_v=2.490 val_pix=12.5px val_grip_acc=0.795 val_rot_acc=0.295 Epoch 70: val_v=2.601 val_pix=12.8px val_grip_acc=0.789 val_rot_acc=0.324 Epoch 71: val_v=2.514 val_pix=13.0px val_grip_acc=0.797 val_rot_acc=0.318 Epoch 72: val_v=2.442 val_pix=13.1px val_grip_acc=0.797 val_rot_acc=0.337 Epoch 73: val_v=2.424 val_pix=12.1px val_grip_acc=0.798 val_rot_acc=0.333 Epoch 74: val_v=2.546 val_pix=12.2px val_grip_acc=0.795 val_rot_acc=0.324 Epoch 75: val_v=2.767 val_pix=14.1px val_grip_acc=0.797 val_rot_acc=0.330 Epoch 76: val_v=2.641 val_pix=12.4px val_grip_acc=0.789 val_rot_acc=0.353 Epoch 77: val_v=2.587 val_pix=13.5px val_grip_acc=0.796 val_rot_acc=0.350 Epoch 78: val_v=2.338 val_pix=11.3px val_grip_acc=0.797 val_rot_acc=0.346 Epoch 79: val_v=2.391 val_pix=12.8px val_grip_acc=0.801 val_rot_acc=0.346 Epoch 80: val_v=2.502 val_pix=12.8px val_grip_acc=0.800 val_rot_acc=0.356 Epoch 81: val_v=2.498 val_pix=11.8px val_grip_acc=0.797 val_rot_acc=0.349 Epoch 82: val_v=2.489 val_pix=12.5px val_grip_acc=0.808 val_rot_acc=0.357 Epoch 83: val_v=2.234 val_pix=10.9px val_grip_acc=0.810 val_rot_acc=0.356 Epoch 84: val_v=2.435 val_pix=12.9px val_grip_acc=0.802 val_rot_acc=0.362 Epoch 85: val_v=2.328 val_pix=11.2px val_grip_acc=0.800 val_rot_acc=0.366 Epoch 86: val_v=2.467 val_pix=12.4px val_grip_acc=0.813 val_rot_acc=0.355 Epoch 87: val_v=2.327 val_pix=11.3px val_grip_acc=0.805 val_rot_acc=0.367 Epoch 88: val_v=2.382 val_pix=11.6px val_grip_acc=0.802 val_rot_acc=0.352 Epoch 89: val_v=2.548 val_pix=12.3px val_grip_acc=0.822 val_rot_acc=0.352 Epoch 90: val_v=2.365 val_pix=11.3px val_grip_acc=0.805 val_rot_acc=0.352 Epoch 91: val_v=2.522 val_pix=12.2px val_grip_acc=0.811 val_rot_acc=0.368 Epoch 92: val_v=2.380 val_pix=11.9px val_grip_acc=0.815 val_rot_acc=0.375 Epoch 93: val_v=2.386 val_pix=11.6px val_grip_acc=0.811 val_rot_acc=0.377 Epoch 94: val_v=2.539 val_pix=12.8px val_grip_acc=0.811 val_rot_acc=0.362 Epoch 95: val_v=2.340 val_pix=11.5px val_grip_acc=0.807 val_rot_acc=0.378 Epoch 96: val_v=2.457 val_pix=12.9px val_grip_acc=0.805 val_rot_acc=0.384 Epoch 97: val_v=2.554 val_pix=12.6px val_grip_acc=0.815 val_rot_acc=0.380 Epoch 98: val_v=2.147 val_pix=10.8px val_grip_acc=0.823 val_rot_acc=0.385 Epoch 99: val_v=2.386 val_pix=11.5px val_grip_acc=0.817 val_rot_acc=0.381 Epoch 100: val_v=2.749 val_pix=12.8px val_grip_acc=0.795 val_rot_acc=0.360 Epoch 101: val_v=2.246 val_pix=11.8px val_grip_acc=0.816 val_rot_acc=0.385 Epoch 102: val_v=2.343 val_pix=11.2px val_grip_acc=0.812 val_rot_acc=0.385 Epoch 103: val_v=2.199 val_pix=10.9px val_grip_acc=0.827 val_rot_acc=0.388 Epoch 104: val_v=2.320 val_pix=11.7px val_grip_acc=0.817 val_rot_acc=0.396 Epoch 105: val_v=2.328 val_pix=11.2px val_grip_acc=0.816 val_rot_acc=0.405 Epoch 106: val_v=2.235 val_pix=10.8px val_grip_acc=0.818 val_rot_acc=0.414 Epoch 107: val_v=2.228 val_pix=11.1px val_grip_acc=0.824 val_rot_acc=0.398 Epoch 108: val_v=2.372 val_pix=11.7px val_grip_acc=0.815 val_rot_acc=0.404 Epoch 109: val_v=2.558 val_pix=13.0px val_grip_acc=0.817 val_rot_acc=0.413 Epoch 110: val_v=2.238 val_pix=10.6px val_grip_acc=0.817 val_rot_acc=0.387 Epoch 111: val_v=2.386 val_pix=12.3px val_grip_acc=0.824 val_rot_acc=0.406 Epoch 112: val_v=2.299 val_pix=11.2px val_grip_acc=0.829 val_rot_acc=0.408 Epoch 113: val_v=2.310 val_pix=11.3px val_grip_acc=0.819 val_rot_acc=0.408 Epoch 114: val_v=2.514 val_pix=12.5px val_grip_acc=0.818 val_rot_acc=0.409 Epoch 115: val_v=2.475 val_pix=11.4px val_grip_acc=0.827 val_rot_acc=0.413 Epoch 116: val_v=2.442 val_pix=11.7px val_grip_acc=0.820 val_rot_acc=0.398 Epoch 117: val_v=2.348 val_pix=11.0px val_grip_acc=0.832 val_rot_acc=0.418 Epoch 118: val_v=2.199 val_pix=11.0px val_grip_acc=0.834 val_rot_acc=0.411 Epoch 119: val_v=2.352 val_pix=11.4px val_grip_acc=0.834 val_rot_acc=0.426 Epoch 120: val_v=2.215 val_pix=11.3px val_grip_acc=0.828 val_rot_acc=0.407 Epoch 121: val_v=2.329 val_pix=11.9px val_grip_acc=0.834 val_rot_acc=0.426 Epoch 122: val_v=2.069 val_pix=10.7px val_grip_acc=0.835 val_rot_acc=0.431 Epoch 123: val_v=2.185 val_pix=11.8px val_grip_acc=0.827 val_rot_acc=0.437 Epoch 124: val_v=2.109 val_pix=10.7px val_grip_acc=0.823 val_rot_acc=0.432 Epoch 125: val_v=2.115 val_pix=10.8px val_grip_acc=0.826 val_rot_acc=0.432 Epoch 126: val_v=2.070 val_pix=10.4px val_grip_acc=0.830 val_rot_acc=0.441 Epoch 127: val_v=2.073 val_pix=10.4px val_grip_acc=0.836 val_rot_acc=0.431 Epoch 128: val_v=2.585 val_pix=12.3px val_grip_acc=0.833 val_rot_acc=0.429 Epoch 129: val_v=2.170 val_pix=11.3px val_grip_acc=0.829 val_rot_acc=0.435 Epoch 130: val_v=2.054 val_pix=10.4px val_grip_acc=0.823 val_rot_acc=0.447 Epoch 131: val_v=2.093 val_pix=10.8px val_grip_acc=0.836 val_rot_acc=0.454 Epoch 132: val_v=2.141 val_pix=10.4px val_grip_acc=0.835 val_rot_acc=0.448 Epoch 133: val_v=2.286 val_pix=11.3px val_grip_acc=0.827 val_rot_acc=0.444 Epoch 134: val_v=2.517 val_pix=11.5px val_grip_acc=0.833 val_rot_acc=0.448 Epoch 135: val_v=2.080 val_pix=10.3px val_grip_acc=0.839 val_rot_acc=0.453 Epoch 136: val_v=2.315 val_pix=11.8px val_grip_acc=0.836 val_rot_acc=0.462 Epoch 137: val_v=2.195 val_pix=10.5px val_grip_acc=0.837 val_rot_acc=0.450 Epoch 138: val_v=1.926 val_pix=10.2px val_grip_acc=0.837 val_rot_acc=0.465 Epoch 139: val_v=2.398 val_pix=11.8px val_grip_acc=0.835 val_rot_acc=0.449 Epoch 140: val_v=2.359 val_pix=11.1px val_grip_acc=0.826 val_rot_acc=0.462 Epoch 141: val_v=2.219 val_pix=11.4px val_grip_acc=0.837 val_rot_acc=0.473 Epoch 142: val_v=2.266 val_pix=11.9px val_grip_acc=0.838 val_rot_acc=0.458 Epoch 143: val_v=2.399 val_pix=11.6px val_grip_acc=0.837 val_rot_acc=0.455 Epoch 144: val_v=2.080 val_pix=10.8px val_grip_acc=0.838 val_rot_acc=0.453 Epoch 145: val_v=2.131 val_pix=11.0px val_grip_acc=0.831 val_rot_acc=0.471 Epoch 146: val_v=2.410 val_pix=12.7px val_grip_acc=0.842 val_rot_acc=0.463 Epoch 147: val_v=2.023 val_pix=10.9px val_grip_acc=0.865 val_rot_acc=0.470 Epoch 148: val_v=2.140 val_pix=11.6px val_grip_acc=0.839 val_rot_acc=0.476 Epoch 149: val_v=2.277 val_pix=11.1px val_grip_acc=0.848 val_rot_acc=0.466 Epoch 150: val_v=2.278 val_pix=11.0px val_grip_acc=0.838 val_rot_acc=0.469 Epoch 151: val_v=2.175 val_pix=11.3px val_grip_acc=0.837 val_rot_acc=0.471 Epoch 152: val_v=2.125 val_pix=11.0px val_grip_acc=0.838 val_rot_acc=0.475 Epoch 153: val_v=2.227 val_pix=11.7px val_grip_acc=0.841 val_rot_acc=0.486 Epoch 154: val_v=2.064 val_pix=11.1px val_grip_acc=0.844 val_rot_acc=0.484 Epoch 155: val_v=2.127 val_pix=10.7px val_grip_acc=0.841 val_rot_acc=0.469 Epoch 156: val_v=2.232 val_pix=11.2px val_grip_acc=0.834 val_rot_acc=0.480 Epoch 157: val_v=2.408 val_pix=11.5px val_grip_acc=0.839 val_rot_acc=0.485 Epoch 158: val_v=2.225 val_pix=11.0px val_grip_acc=0.838 val_rot_acc=0.471 Epoch 159: val_v=1.985 val_pix=10.0px val_grip_acc=0.841 val_rot_acc=0.486 Epoch 160: val_v=2.019 val_pix=10.4px val_grip_acc=0.844 val_rot_acc=0.485 Epoch 161: val_v=2.021 val_pix=9.9px val_grip_acc=0.841 val_rot_acc=0.484 Epoch 162: val_v=2.210 val_pix=11.2px val_grip_acc=0.838 val_rot_acc=0.490 Epoch 163: val_v=2.325 val_pix=11.5px val_grip_acc=0.848 val_rot_acc=0.483 Epoch 164: val_v=2.072 val_pix=11.0px val_grip_acc=0.838 val_rot_acc=0.492 Epoch 165: val_v=2.520 val_pix=11.2px val_grip_acc=0.845 val_rot_acc=0.479 Epoch 166: val_v=2.015 val_pix=10.6px val_grip_acc=0.841 val_rot_acc=0.505 Epoch 167: val_v=2.121 val_pix=11.4px val_grip_acc=0.848 val_rot_acc=0.495 Epoch 168: val_v=2.542 val_pix=11.6px val_grip_acc=0.833 val_rot_acc=0.487 Epoch 169: val_v=2.403 val_pix=11.7px val_grip_acc=0.838 val_rot_acc=0.491 Epoch 170: val_v=2.253 val_pix=10.8px val_grip_acc=0.843 val_rot_acc=0.499 Epoch 171: val_v=2.649 val_pix=12.0px val_grip_acc=0.815 val_rot_acc=0.493 Epoch 172: val_v=2.300 val_pix=11.3px val_grip_acc=0.838 val_rot_acc=0.497 Epoch 173: val_v=2.438 val_pix=11.3px val_grip_acc=0.849 val_rot_acc=0.509 Epoch 174: val_v=2.345 val_pix=10.8px val_grip_acc=0.837 val_rot_acc=0.499 Epoch 175: val_v=2.121 val_pix=10.8px val_grip_acc=0.840 val_rot_acc=0.505 Epoch 176: val_v=2.190 val_pix=11.5px val_grip_acc=0.851 val_rot_acc=0.499 Epoch 177: val_v=2.134 val_pix=11.0px val_grip_acc=0.849 val_rot_acc=0.504 Epoch 178: val_v=2.269 val_pix=10.6px val_grip_acc=0.847 val_rot_acc=0.504 Epoch 179: val_v=2.511 val_pix=11.1px val_grip_acc=0.844 val_rot_acc=0.499 Epoch 180: val_v=2.158 val_pix=11.1px val_grip_acc=0.852 val_rot_acc=0.500 Epoch 181: val_v=2.134 val_pix=10.6px val_grip_acc=0.859 val_rot_acc=0.501 Epoch 182: val_v=2.021 val_pix=10.1px val_grip_acc=0.862 val_rot_acc=0.516 Epoch 183: val_v=2.184 val_pix=10.3px val_grip_acc=0.867 val_rot_acc=0.504 Epoch 184: val_v=2.272 val_pix=10.7px val_grip_acc=0.851 val_rot_acc=0.507 Epoch 185: val_v=2.127 val_pix=10.2px val_grip_acc=0.850 val_rot_acc=0.506 Epoch 186: val_v=2.287 val_pix=10.4px val_grip_acc=0.852 val_rot_acc=0.510 Epoch 187: val_v=2.427 val_pix=10.8px val_grip_acc=0.836 val_rot_acc=0.508 Epoch 188: val_v=2.361 val_pix=11.3px val_grip_acc=0.835 val_rot_acc=0.526 Epoch 189: val_v=2.402 val_pix=11.7px val_grip_acc=0.853 val_rot_acc=0.508 Epoch 190: val_v=2.395 val_pix=11.0px val_grip_acc=0.851 val_rot_acc=0.513 Epoch 191: val_v=2.079 val_pix=9.8px val_grip_acc=0.861 val_rot_acc=0.516 Epoch 192: val_v=2.490 val_pix=11.2px val_grip_acc=0.847 val_rot_acc=0.501 Epoch 193: val_v=2.477 val_pix=10.9px val_grip_acc=0.863 val_rot_acc=0.513 Epoch 194: val_v=2.125 val_pix=10.6px val_grip_acc=0.852 val_rot_acc=0.525 Epoch 195: val_v=2.109 val_pix=10.4px val_grip_acc=0.851 val_rot_acc=0.533 Epoch 196: val_v=2.073 val_pix=9.6px val_grip_acc=0.854 val_rot_acc=0.527 Epoch 197: val_v=2.054 val_pix=10.4px val_grip_acc=0.834 val_rot_acc=0.527 Epoch 198: val_v=2.550 val_pix=11.6px val_grip_acc=0.842 val_rot_acc=0.534 Epoch 199: val_v=2.086 val_pix=10.0px val_grip_acc=0.858 val_rot_acc=0.524