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: 30,365,984 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=7.138 val_pix=69.1px val_grip_acc=0.707 val_rot_acc=0.068 Epoch 1: val_v=6.083 val_pix=80.5px val_grip_acc=0.694 val_rot_acc=0.050 Epoch 2: val_v=5.905 val_pix=67.2px val_grip_acc=0.694 val_rot_acc=0.060 Epoch 3: val_v=5.268 val_pix=61.5px val_grip_acc=0.704 val_rot_acc=0.070 Epoch 4: val_v=4.699 val_pix=36.9px val_grip_acc=0.706 val_rot_acc=0.074 Epoch 5: val_v=4.826 val_pix=34.6px val_grip_acc=0.690 val_rot_acc=0.070 Epoch 6: val_v=4.354 val_pix=32.3px val_grip_acc=0.708 val_rot_acc=0.073 Epoch 7: val_v=4.623 val_pix=24.1px val_grip_acc=0.684 val_rot_acc=0.096 Epoch 8: val_v=4.216 val_pix=23.2px val_grip_acc=0.710 val_rot_acc=0.100 Epoch 9: val_v=4.457 val_pix=22.6px val_grip_acc=0.709 val_rot_acc=0.100 Epoch 10: val_v=4.011 val_pix=20.4px val_grip_acc=0.720 val_rot_acc=0.105 Epoch 11: val_v=4.078 val_pix=20.5px val_grip_acc=0.724 val_rot_acc=0.131 Epoch 12: val_v=4.433 val_pix=18.8px val_grip_acc=0.724 val_rot_acc=0.114 Epoch 13: val_v=4.095 val_pix=20.3px val_grip_acc=0.725 val_rot_acc=0.129 Epoch 14: val_v=4.382 val_pix=23.7px val_grip_acc=0.727 val_rot_acc=0.140 Epoch 15: val_v=3.870 val_pix=18.1px val_grip_acc=0.726 val_rot_acc=0.131 Epoch 16: val_v=3.854 val_pix=17.6px val_grip_acc=0.735 val_rot_acc=0.137 Epoch 17: val_v=3.931 val_pix=17.4px val_grip_acc=0.742 val_rot_acc=0.143 Epoch 18: val_v=3.819 val_pix=17.4px val_grip_acc=0.750 val_rot_acc=0.151 Epoch 19: val_v=4.023 val_pix=17.4px val_grip_acc=0.754 val_rot_acc=0.148 Epoch 20: val_v=3.844 val_pix=17.5px val_grip_acc=0.762 val_rot_acc=0.148 Epoch 21: val_v=3.816 val_pix=18.3px val_grip_acc=0.762 val_rot_acc=0.148 Epoch 22: val_v=3.809 val_pix=17.9px val_grip_acc=0.766 val_rot_acc=0.160 Epoch 23: val_v=3.869 val_pix=16.6px val_grip_acc=0.764 val_rot_acc=0.144 Epoch 24: val_v=3.736 val_pix=15.2px val_grip_acc=0.763 val_rot_acc=0.151 Epoch 25: val_v=3.530 val_pix=15.6px val_grip_acc=0.778 val_rot_acc=0.166 Epoch 26: val_v=3.805 val_pix=15.3px val_grip_acc=0.767 val_rot_acc=0.160 Epoch 27: val_v=3.674 val_pix=15.0px val_grip_acc=0.769 val_rot_acc=0.168 Epoch 28: val_v=4.204 val_pix=17.5px val_grip_acc=0.769 val_rot_acc=0.162 Epoch 29: val_v=4.115 val_pix=17.7px val_grip_acc=0.768 val_rot_acc=0.164 Epoch 30: val_v=3.875 val_pix=17.0px val_grip_acc=0.766 val_rot_acc=0.172 Epoch 31: val_v=3.729 val_pix=16.9px val_grip_acc=0.780 val_rot_acc=0.183 Epoch 32: val_v=3.355 val_pix=16.0px val_grip_acc=0.790 val_rot_acc=0.181 Epoch 33: val_v=3.836 val_pix=16.2px val_grip_acc=0.776 val_rot_acc=0.181 Epoch 34: val_v=3.645 val_pix=15.9px val_grip_acc=0.782 val_rot_acc=0.190 Epoch 35: val_v=3.692 val_pix=14.8px val_grip_acc=0.792 val_rot_acc=0.185 Epoch 36: val_v=3.916 val_pix=15.9px val_grip_acc=0.769 val_rot_acc=0.179 Epoch 37: val_v=3.315 val_pix=16.1px val_grip_acc=0.790 val_rot_acc=0.192 Epoch 38: val_v=3.699 val_pix=14.9px val_grip_acc=0.781 val_rot_acc=0.180 Epoch 39: val_v=3.274 val_pix=16.4px val_grip_acc=0.783 val_rot_acc=0.192 Epoch 40: val_v=3.147 val_pix=14.4px val_grip_acc=0.790 val_rot_acc=0.196 Epoch 41: val_v=3.352 val_pix=15.8px val_grip_acc=0.792 val_rot_acc=0.197 Epoch 42: val_v=3.501 val_pix=14.7px val_grip_acc=0.793 val_rot_acc=0.198 Epoch 43: val_v=3.243 val_pix=14.5px val_grip_acc=0.795 val_rot_acc=0.187 Epoch 44: val_v=3.629 val_pix=14.6px val_grip_acc=0.797 val_rot_acc=0.192 Epoch 45: val_v=3.248 val_pix=14.0px val_grip_acc=0.792 val_rot_acc=0.203 Epoch 46: val_v=3.571 val_pix=16.4px val_grip_acc=0.785 val_rot_acc=0.203 Epoch 47: val_v=3.395 val_pix=13.4px val_grip_acc=0.797 val_rot_acc=0.201 Epoch 48: val_v=3.460 val_pix=14.5px val_grip_acc=0.797 val_rot_acc=0.205 Epoch 49: val_v=3.158 val_pix=14.3px val_grip_acc=0.796 val_rot_acc=0.211 Epoch 50: val_v=3.748 val_pix=14.9px val_grip_acc=0.799 val_rot_acc=0.215 Epoch 51: val_v=3.421 val_pix=15.0px val_grip_acc=0.795 val_rot_acc=0.218 Epoch 52: val_v=3.365 val_pix=16.8px val_grip_acc=0.786 val_rot_acc=0.225 Epoch 53: val_v=3.379 val_pix=14.7px val_grip_acc=0.786 val_rot_acc=0.210 Epoch 54: val_v=3.632 val_pix=14.7px val_grip_acc=0.788 val_rot_acc=0.224 Epoch 55: val_v=3.174 val_pix=15.1px val_grip_acc=0.799 val_rot_acc=0.234 Epoch 56: val_v=3.575 val_pix=14.9px val_grip_acc=0.796 val_rot_acc=0.229 Epoch 57: val_v=3.325 val_pix=14.4px val_grip_acc=0.799 val_rot_acc=0.230 Epoch 58: val_v=3.560 val_pix=14.1px val_grip_acc=0.809 val_rot_acc=0.235 Epoch 59: val_v=3.016 val_pix=13.7px val_grip_acc=0.806 val_rot_acc=0.253 Epoch 60: val_v=3.258 val_pix=13.4px val_grip_acc=0.807 val_rot_acc=0.241 Epoch 61: val_v=3.560 val_pix=13.7px val_grip_acc=0.788 val_rot_acc=0.242 Epoch 62: val_v=3.448 val_pix=14.4px val_grip_acc=0.799 val_rot_acc=0.247 Epoch 63: val_v=3.076 val_pix=13.1px val_grip_acc=0.811 val_rot_acc=0.252 Epoch 64: val_v=3.338 val_pix=15.4px val_grip_acc=0.794 val_rot_acc=0.256 Epoch 65: val_v=3.039 val_pix=13.0px val_grip_acc=0.811 val_rot_acc=0.255 Epoch 66: val_v=3.211 val_pix=14.5px val_grip_acc=0.805 val_rot_acc=0.254 Epoch 67: val_v=3.272 val_pix=13.9px val_grip_acc=0.821 val_rot_acc=0.253 Epoch 68: val_v=3.054 val_pix=13.7px val_grip_acc=0.818 val_rot_acc=0.257 Epoch 69: val_v=3.386 val_pix=15.5px val_grip_acc=0.802 val_rot_acc=0.276 Epoch 70: val_v=3.077 val_pix=13.4px val_grip_acc=0.820 val_rot_acc=0.266 Epoch 71: val_v=3.439 val_pix=13.6px val_grip_acc=0.807 val_rot_acc=0.254 Epoch 72: val_v=3.252 val_pix=13.3px val_grip_acc=0.802 val_rot_acc=0.279 Epoch 73: val_v=3.094 val_pix=14.8px val_grip_acc=0.806 val_rot_acc=0.297 Epoch 74: val_v=3.206 val_pix=13.9px val_grip_acc=0.821 val_rot_acc=0.297 Epoch 75: val_v=3.168 val_pix=13.1px val_grip_acc=0.812 val_rot_acc=0.276 Epoch 76: val_v=3.170 val_pix=14.1px val_grip_acc=0.809 val_rot_acc=0.289 Epoch 77: val_v=3.680 val_pix=14.2px val_grip_acc=0.801 val_rot_acc=0.285 Epoch 78: val_v=3.049 val_pix=14.0px val_grip_acc=0.822 val_rot_acc=0.304 Epoch 79: val_v=3.202 val_pix=12.9px val_grip_acc=0.810 val_rot_acc=0.315 Epoch 80: val_v=2.883 val_pix=12.1px val_grip_acc=0.823 val_rot_acc=0.314 Epoch 81: val_v=3.574 val_pix=14.5px val_grip_acc=0.805 val_rot_acc=0.293 Epoch 82: val_v=3.181 val_pix=12.5px val_grip_acc=0.823 val_rot_acc=0.306 Epoch 83: val_v=3.137 val_pix=14.2px val_grip_acc=0.817 val_rot_acc=0.318 Epoch 84: val_v=3.637 val_pix=13.3px val_grip_acc=0.805 val_rot_acc=0.309 Epoch 85: val_v=3.296 val_pix=13.2px val_grip_acc=0.805 val_rot_acc=0.325 Epoch 86: val_v=3.410 val_pix=14.2px val_grip_acc=0.814 val_rot_acc=0.322 Epoch 87: val_v=3.377 val_pix=13.9px val_grip_acc=0.806 val_rot_acc=0.319 Epoch 88: val_v=3.015 val_pix=13.7px val_grip_acc=0.820 val_rot_acc=0.343 Epoch 89: val_v=3.116 val_pix=12.9px val_grip_acc=0.816 val_rot_acc=0.330 Epoch 90: val_v=3.048 val_pix=14.0px val_grip_acc=0.816 val_rot_acc=0.339 Epoch 91: val_v=2.860 val_pix=12.1px val_grip_acc=0.811 val_rot_acc=0.371 Epoch 92: val_v=3.413 val_pix=14.6px val_grip_acc=0.821 val_rot_acc=0.336 Epoch 93: val_v=2.894 val_pix=12.7px val_grip_acc=0.820 val_rot_acc=0.353 Epoch 94: val_v=2.816 val_pix=12.7px val_grip_acc=0.820 val_rot_acc=0.381 Epoch 95: val_v=3.310 val_pix=13.3px val_grip_acc=0.818 val_rot_acc=0.337 Epoch 96: val_v=2.912 val_pix=12.0px val_grip_acc=0.818 val_rot_acc=0.368 Epoch 97: val_v=3.043 val_pix=12.6px val_grip_acc=0.817 val_rot_acc=0.355 Epoch 98: val_v=3.487 val_pix=13.5px val_grip_acc=0.818 val_rot_acc=0.334 Epoch 99: val_v=3.048 val_pix=12.7px val_grip_acc=0.817 val_rot_acc=0.356 Epoch 100: val_v=2.870 val_pix=12.4px val_grip_acc=0.820 val_rot_acc=0.376 Epoch 101: val_v=3.208 val_pix=12.1px val_grip_acc=0.821 val_rot_acc=0.368 Epoch 102: val_v=2.941 val_pix=12.8px val_grip_acc=0.821 val_rot_acc=0.377 Epoch 103: val_v=2.964 val_pix=11.5px val_grip_acc=0.810 val_rot_acc=0.369 Epoch 104: val_v=3.243 val_pix=12.7px val_grip_acc=0.810 val_rot_acc=0.358 Epoch 105: val_v=3.625 val_pix=13.3px val_grip_acc=0.809 val_rot_acc=0.366 Epoch 106: val_v=3.420 val_pix=14.0px val_grip_acc=0.811 val_rot_acc=0.370 Epoch 107: val_v=3.029 val_pix=12.0px val_grip_acc=0.820 val_rot_acc=0.367 Epoch 108: val_v=3.056 val_pix=12.5px val_grip_acc=0.820 val_rot_acc=0.390 Epoch 109: val_v=3.589 val_pix=13.2px val_grip_acc=0.822 val_rot_acc=0.362 Epoch 110: val_v=3.370 val_pix=13.5px val_grip_acc=0.815 val_rot_acc=0.373 Epoch 111: val_v=2.957 val_pix=12.6px val_grip_acc=0.821 val_rot_acc=0.387 Epoch 112: val_v=3.085 val_pix=12.4px val_grip_acc=0.826 val_rot_acc=0.388 Epoch 113: val_v=3.604 val_pix=12.3px val_grip_acc=0.811 val_rot_acc=0.382 Epoch 114: val_v=3.236 val_pix=12.7px val_grip_acc=0.822 val_rot_acc=0.388 Epoch 115: val_v=3.499 val_pix=12.8px val_grip_acc=0.819 val_rot_acc=0.357 Epoch 116: val_v=3.307 val_pix=11.9px val_grip_acc=0.820 val_rot_acc=0.362 Epoch 117: val_v=3.209 val_pix=13.0px val_grip_acc=0.822 val_rot_acc=0.382 Epoch 118: val_v=3.370 val_pix=13.9px val_grip_acc=0.816 val_rot_acc=0.385 Epoch 119: val_v=3.033 val_pix=12.4px val_grip_acc=0.821 val_rot_acc=0.413 Epoch 120: val_v=3.177 val_pix=13.6px val_grip_acc=0.823 val_rot_acc=0.384 Epoch 121: val_v=2.934 val_pix=12.3px val_grip_acc=0.821 val_rot_acc=0.396 Epoch 122: val_v=3.548 val_pix=13.2px val_grip_acc=0.823 val_rot_acc=0.378 Epoch 123: val_v=2.927 val_pix=11.9px val_grip_acc=0.833 val_rot_acc=0.408 Epoch 124: val_v=3.207 val_pix=12.3px val_grip_acc=0.823 val_rot_acc=0.397 Epoch 125: val_v=2.903 val_pix=12.0px val_grip_acc=0.822 val_rot_acc=0.400 Epoch 126: val_v=3.100 val_pix=12.6px val_grip_acc=0.826 val_rot_acc=0.415 Epoch 127: val_v=3.106 val_pix=12.9px val_grip_acc=0.822 val_rot_acc=0.412 Epoch 128: val_v=3.262 val_pix=13.3px val_grip_acc=0.826 val_rot_acc=0.411 Epoch 129: val_v=3.853 val_pix=13.8px val_grip_acc=0.821 val_rot_acc=0.383 Epoch 130: val_v=3.043 val_pix=12.6px val_grip_acc=0.822 val_rot_acc=0.418 Epoch 131: val_v=2.760 val_pix=11.6px val_grip_acc=0.829 val_rot_acc=0.436 Epoch 132: val_v=2.994 val_pix=12.2px val_grip_acc=0.830 val_rot_acc=0.430 Epoch 133: val_v=3.115 val_pix=12.7px val_grip_acc=0.828 val_rot_acc=0.434 Epoch 134: val_v=4.271 val_pix=13.4px val_grip_acc=0.810 val_rot_acc=0.380 Epoch 135: val_v=3.105 val_pix=12.2px val_grip_acc=0.828 val_rot_acc=0.423 Epoch 136: val_v=3.322 val_pix=12.8px val_grip_acc=0.822 val_rot_acc=0.403 Epoch 137: val_v=3.475 val_pix=12.4px val_grip_acc=0.826 val_rot_acc=0.412 Epoch 138: val_v=3.265 val_pix=13.0px val_grip_acc=0.825 val_rot_acc=0.413 Epoch 139: val_v=3.216 val_pix=11.9px val_grip_acc=0.827 val_rot_acc=0.422 Epoch 140: val_v=3.390 val_pix=12.3px val_grip_acc=0.825 val_rot_acc=0.428 Epoch 141: val_v=3.420 val_pix=12.0px val_grip_acc=0.822 val_rot_acc=0.406 Epoch 142: val_v=3.099 val_pix=12.1px val_grip_acc=0.829 val_rot_acc=0.437 Epoch 143: val_v=3.058 val_pix=11.9px val_grip_acc=0.834 val_rot_acc=0.423 Epoch 144: val_v=2.996 val_pix=11.5px val_grip_acc=0.835 val_rot_acc=0.419 Epoch 145: val_v=3.506 val_pix=12.7px val_grip_acc=0.825 val_rot_acc=0.426 Epoch 146: val_v=2.921 val_pix=11.3px val_grip_acc=0.831 val_rot_acc=0.432 Epoch 147: val_v=3.010 val_pix=11.9px val_grip_acc=0.835 val_rot_acc=0.447 Epoch 148: val_v=3.075 val_pix=12.4px val_grip_acc=0.832 val_rot_acc=0.441 Epoch 149: val_v=3.148 val_pix=12.1px val_grip_acc=0.837 val_rot_acc=0.422 Epoch 150: val_v=3.007 val_pix=11.5px val_grip_acc=0.834 val_rot_acc=0.439 Epoch 151: val_v=3.139 val_pix=11.8px val_grip_acc=0.825 val_rot_acc=0.435 Epoch 152: val_v=3.037 val_pix=11.4px val_grip_acc=0.836 val_rot_acc=0.454 Epoch 153: val_v=2.888 val_pix=12.4px val_grip_acc=0.833 val_rot_acc=0.464 Epoch 154: val_v=2.863 val_pix=11.3px val_grip_acc=0.840 val_rot_acc=0.440 Epoch 155: val_v=3.421 val_pix=12.5px val_grip_acc=0.816 val_rot_acc=0.443 Epoch 156: val_v=2.956 val_pix=11.6px val_grip_acc=0.831 val_rot_acc=0.442 Epoch 157: val_v=2.635 val_pix=10.7px val_grip_acc=0.839 val_rot_acc=0.468 Epoch 158: val_v=3.023 val_pix=12.3px val_grip_acc=0.830 val_rot_acc=0.452 Epoch 159: val_v=3.144 val_pix=12.0px val_grip_acc=0.830 val_rot_acc=0.447 Epoch 160: val_v=3.235 val_pix=11.5px val_grip_acc=0.836 val_rot_acc=0.441 Epoch 161: val_v=3.075 val_pix=12.7px val_grip_acc=0.828 val_rot_acc=0.455 Epoch 162: val_v=2.818 val_pix=11.7px val_grip_acc=0.833 val_rot_acc=0.463 Epoch 163: val_v=3.087 val_pix=11.8px val_grip_acc=0.834 val_rot_acc=0.451 Epoch 164: val_v=3.318 val_pix=12.7px val_grip_acc=0.832 val_rot_acc=0.448 Epoch 165: val_v=3.691 val_pix=12.6px val_grip_acc=0.830 val_rot_acc=0.442 Epoch 166: val_v=3.091 val_pix=11.6px val_grip_acc=0.842 val_rot_acc=0.461 Epoch 167: val_v=2.965 val_pix=11.8px val_grip_acc=0.838 val_rot_acc=0.470 Epoch 168: val_v=3.092 val_pix=11.6px val_grip_acc=0.842 val_rot_acc=0.456 Epoch 169: val_v=2.617 val_pix=10.5px val_grip_acc=0.841 val_rot_acc=0.472 Epoch 170: val_v=3.590 val_pix=12.5px val_grip_acc=0.840 val_rot_acc=0.448 Epoch 171: val_v=3.353 val_pix=13.0px val_grip_acc=0.832 val_rot_acc=0.457 Epoch 172: val_v=3.812 val_pix=13.1px val_grip_acc=0.838 val_rot_acc=0.454 Epoch 173: val_v=2.779 val_pix=11.6px val_grip_acc=0.843 val_rot_acc=0.482 Epoch 174: val_v=3.216 val_pix=12.6px val_grip_acc=0.833 val_rot_acc=0.446 Epoch 175: val_v=2.732 val_pix=11.1px val_grip_acc=0.841 val_rot_acc=0.477 Epoch 176: val_v=3.189 val_pix=11.8px val_grip_acc=0.843 val_rot_acc=0.456 Epoch 177: val_v=3.449 val_pix=11.8px val_grip_acc=0.852 val_rot_acc=0.455 Epoch 178: val_v=3.019 val_pix=12.2px val_grip_acc=0.844 val_rot_acc=0.466 Epoch 179: val_v=2.655 val_pix=10.5px val_grip_acc=0.839 val_rot_acc=0.491 Epoch 180: val_v=3.100 val_pix=12.0px val_grip_acc=0.846 val_rot_acc=0.473 Epoch 181: val_v=2.981 val_pix=11.7px val_grip_acc=0.837 val_rot_acc=0.475 Epoch 182: val_v=2.878 val_pix=11.2px val_grip_acc=0.846 val_rot_acc=0.472 Epoch 183: val_v=3.543 val_pix=11.4px val_grip_acc=0.832 val_rot_acc=0.452 Epoch 184: val_v=3.094 val_pix=12.8px val_grip_acc=0.843 val_rot_acc=0.475 Epoch 185: val_v=2.928 val_pix=11.5px val_grip_acc=0.843 val_rot_acc=0.487 Epoch 186: val_v=3.131 val_pix=11.6px val_grip_acc=0.843 val_rot_acc=0.471 Epoch 187: val_v=2.946 val_pix=11.1px val_grip_acc=0.841 val_rot_acc=0.473 Epoch 188: val_v=3.523 val_pix=12.4px val_grip_acc=0.843 val_rot_acc=0.460 Epoch 189: val_v=2.860 val_pix=10.9px val_grip_acc=0.842 val_rot_acc=0.487 Epoch 190: val_v=3.365 val_pix=12.0px val_grip_acc=0.838 val_rot_acc=0.464 Epoch 191: val_v=2.802 val_pix=10.5px val_grip_acc=0.845 val_rot_acc=0.490 Epoch 192: val_v=2.941 val_pix=12.2px val_grip_acc=0.846 val_rot_acc=0.483 Epoch 193: val_v=4.027 val_pix=12.8px val_grip_acc=0.834 val_rot_acc=0.461 Epoch 194: val_v=2.752 val_pix=10.7px val_grip_acc=0.856 val_rot_acc=0.509 Epoch 195: val_v=4.859 val_pix=14.7px val_grip_acc=0.814 val_rot_acc=0.444 Epoch 196: val_v=2.802 val_pix=11.0px val_grip_acc=0.853 val_rot_acc=0.502 Epoch 197: val_v=3.036 val_pix=12.1px val_grip_acc=0.853 val_rot_acc=0.480 Epoch 198: val_v=3.025 val_pix=12.2px val_grip_acc=0.844 val_rot_acc=0.485 Epoch 199: val_v=3.303 val_pix=12.0px val_grip_acc=0.847 val_rot_acc=0.475