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: 30,343,424 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=42, unexpected=0 Epoch 0: val_v=11.464 val_pix=156.6px val_grip_acc=0.093 val_rot_acc=0.025 Epoch 1: val_v=11.213 val_pix=84.1px val_grip_acc=0.119 val_rot_acc=0.042 Epoch 2: val_v=10.966 val_pix=86.6px val_grip_acc=0.127 val_rot_acc=0.036 Epoch 3: val_v=10.716 val_pix=87.0px val_grip_acc=0.149 val_rot_acc=0.029 Epoch 4: val_v=10.556 val_pix=87.2px val_grip_acc=0.156 val_rot_acc=0.026 Epoch 5: val_v=10.363 val_pix=80.6px val_grip_acc=0.187 val_rot_acc=0.030 Epoch 6: val_v=10.230 val_pix=79.4px val_grip_acc=0.193 val_rot_acc=0.037 Epoch 7: val_v=10.028 val_pix=80.5px val_grip_acc=0.201 val_rot_acc=0.027 Epoch 8: val_v=9.896 val_pix=76.5px val_grip_acc=0.214 val_rot_acc=0.032 Epoch 9: val_v=9.763 val_pix=78.6px val_grip_acc=0.223 val_rot_acc=0.033 Epoch 10: val_v=9.663 val_pix=78.3px val_grip_acc=0.226 val_rot_acc=0.029 Epoch 11: val_v=9.552 val_pix=74.4px val_grip_acc=0.235 val_rot_acc=0.027 Epoch 12: val_v=9.472 val_pix=71.5px val_grip_acc=0.217 val_rot_acc=0.026 Epoch 13: val_v=9.454 val_pix=71.4px val_grip_acc=0.242 val_rot_acc=0.028 Epoch 14: val_v=9.263 val_pix=73.6px val_grip_acc=0.207 val_rot_acc=0.034 Epoch 15: val_v=9.212 val_pix=78.2px val_grip_acc=0.214 val_rot_acc=0.024 Epoch 16: val_v=9.065 val_pix=76.0px val_grip_acc=0.257 val_rot_acc=0.028 Epoch 17: val_v=9.041 val_pix=75.0px val_grip_acc=0.251 val_rot_acc=0.030 Epoch 18: val_v=8.993 val_pix=82.3px val_grip_acc=0.225 val_rot_acc=0.025 Epoch 19: val_v=8.920 val_pix=75.8px val_grip_acc=0.238 val_rot_acc=0.032 Epoch 20: val_v=8.822 val_pix=71.7px val_grip_acc=0.228 val_rot_acc=0.035 Epoch 21: val_v=8.772 val_pix=77.6px val_grip_acc=0.242 val_rot_acc=0.027 Epoch 22: val_v=8.821 val_pix=72.6px val_grip_acc=0.253 val_rot_acc=0.027 Epoch 23: val_v=8.612 val_pix=74.8px val_grip_acc=0.209 val_rot_acc=0.027 Epoch 24: val_v=8.661 val_pix=79.1px val_grip_acc=0.257 val_rot_acc=0.024 Epoch 25: val_v=8.643 val_pix=78.7px val_grip_acc=0.253 val_rot_acc=0.035 Epoch 26: val_v=8.573 val_pix=78.1px val_grip_acc=0.247 val_rot_acc=0.029 Epoch 27: val_v=8.411 val_pix=71.5px val_grip_acc=0.254 val_rot_acc=0.024 Epoch 28: val_v=8.492 val_pix=72.8px val_grip_acc=0.248 val_rot_acc=0.036 Epoch 29: val_v=8.393 val_pix=78.6px val_grip_acc=0.237 val_rot_acc=0.027 Epoch 30: val_v=8.492 val_pix=75.0px val_grip_acc=0.246 val_rot_acc=0.031 Epoch 31: val_v=8.198 val_pix=81.5px val_grip_acc=0.248 val_rot_acc=0.030 Epoch 32: val_v=8.307 val_pix=82.5px val_grip_acc=0.257 val_rot_acc=0.032 Epoch 33: val_v=8.111 val_pix=80.1px val_grip_acc=0.245 val_rot_acc=0.039 Epoch 34: val_v=8.121 val_pix=78.0px val_grip_acc=0.232 val_rot_acc=0.034 Epoch 35: val_v=8.054 val_pix=74.1px val_grip_acc=0.257 val_rot_acc=0.045 Epoch 36: val_v=7.965 val_pix=74.5px val_grip_acc=0.275 val_rot_acc=0.037 Epoch 37: val_v=7.994 val_pix=79.1px val_grip_acc=0.291 val_rot_acc=0.040 Epoch 38: val_v=7.813 val_pix=75.2px val_grip_acc=0.257 val_rot_acc=0.036 Epoch 39: val_v=7.764 val_pix=79.8px val_grip_acc=0.262 val_rot_acc=0.037 Epoch 40: val_v=7.770 val_pix=73.3px val_grip_acc=0.275 val_rot_acc=0.043 Epoch 41: val_v=7.723 val_pix=71.9px val_grip_acc=0.313 val_rot_acc=0.038 Epoch 42: val_v=7.702 val_pix=73.6px val_grip_acc=0.303 val_rot_acc=0.040 Epoch 43: val_v=7.618 val_pix=72.5px val_grip_acc=0.286 val_rot_acc=0.037 Epoch 44: val_v=7.592 val_pix=76.2px val_grip_acc=0.262 val_rot_acc=0.046 Epoch 45: val_v=7.548 val_pix=74.5px val_grip_acc=0.305 val_rot_acc=0.046 Epoch 46: val_v=7.340 val_pix=66.9px val_grip_acc=0.285 val_rot_acc=0.046 Epoch 47: val_v=7.401 val_pix=69.2px val_grip_acc=0.342 val_rot_acc=0.049 Epoch 48: val_v=7.320 val_pix=73.5px val_grip_acc=0.305 val_rot_acc=0.049 Epoch 49: val_v=7.408 val_pix=72.6px val_grip_acc=0.319 val_rot_acc=0.048 Epoch 50: val_v=7.320 val_pix=72.7px val_grip_acc=0.300 val_rot_acc=0.048 Epoch 51: val_v=7.181 val_pix=69.5px val_grip_acc=0.318 val_rot_acc=0.054 Epoch 52: val_v=7.055 val_pix=74.2px val_grip_acc=0.322 val_rot_acc=0.059 Epoch 53: val_v=7.287 val_pix=69.8px val_grip_acc=0.315 val_rot_acc=0.055 Epoch 54: val_v=7.116 val_pix=70.2px val_grip_acc=0.380 val_rot_acc=0.048 Epoch 55: val_v=6.961 val_pix=71.1px val_grip_acc=0.324 val_rot_acc=0.053 Epoch 56: val_v=7.086 val_pix=67.7px val_grip_acc=0.320 val_rot_acc=0.061 Epoch 57: val_v=6.744 val_pix=74.8px val_grip_acc=0.347 val_rot_acc=0.055 Epoch 58: val_v=6.862 val_pix=70.8px val_grip_acc=0.369 val_rot_acc=0.067 Epoch 59: val_v=6.819 val_pix=70.5px val_grip_acc=0.343 val_rot_acc=0.065 Epoch 60: val_v=6.670 val_pix=72.1px val_grip_acc=0.347 val_rot_acc=0.058 Epoch 61: val_v=6.862 val_pix=73.7px val_grip_acc=0.358 val_rot_acc=0.071 Epoch 62: val_v=6.634 val_pix=71.4px val_grip_acc=0.373 val_rot_acc=0.063 Epoch 63: val_v=6.524 val_pix=67.4px val_grip_acc=0.373 val_rot_acc=0.070 Epoch 64: val_v=6.648 val_pix=69.3px val_grip_acc=0.390 val_rot_acc=0.065 Epoch 65: val_v=6.637 val_pix=70.1px val_grip_acc=0.385 val_rot_acc=0.069 Epoch 66: val_v=6.407 val_pix=69.3px val_grip_acc=0.407 val_rot_acc=0.068 Epoch 67: val_v=6.289 val_pix=66.8px val_grip_acc=0.406 val_rot_acc=0.074 Epoch 68: val_v=6.353 val_pix=64.6px val_grip_acc=0.375 val_rot_acc=0.077 Epoch 69: val_v=6.351 val_pix=63.7px val_grip_acc=0.382 val_rot_acc=0.073 Epoch 70: val_v=6.302 val_pix=63.1px val_grip_acc=0.398 val_rot_acc=0.072 Epoch 71: val_v=6.161 val_pix=67.5px val_grip_acc=0.419 val_rot_acc=0.069 Epoch 72: val_v=6.267 val_pix=73.2px val_grip_acc=0.401 val_rot_acc=0.075 Epoch 73: val_v=6.323 val_pix=63.5px val_grip_acc=0.409 val_rot_acc=0.077 Epoch 74: val_v=6.090 val_pix=68.1px val_grip_acc=0.429 val_rot_acc=0.091 Epoch 75: val_v=6.126 val_pix=63.3px val_grip_acc=0.400 val_rot_acc=0.093 Epoch 76: val_v=6.064 val_pix=63.2px val_grip_acc=0.437 val_rot_acc=0.095 Epoch 77: val_v=6.159 val_pix=63.5px val_grip_acc=0.432 val_rot_acc=0.095 Epoch 78: val_v=5.892 val_pix=66.8px val_grip_acc=0.428 val_rot_acc=0.091 Epoch 79: val_v=5.970 val_pix=59.6px val_grip_acc=0.435 val_rot_acc=0.092 Epoch 80: val_v=6.112 val_pix=60.9px val_grip_acc=0.454 val_rot_acc=0.096 Epoch 81: val_v=6.003 val_pix=64.9px val_grip_acc=0.457 val_rot_acc=0.096 Epoch 82: val_v=5.955 val_pix=57.9px val_grip_acc=0.450 val_rot_acc=0.092 Epoch 83: val_v=5.966 val_pix=54.3px val_grip_acc=0.450 val_rot_acc=0.098 Epoch 84: val_v=5.919 val_pix=57.5px val_grip_acc=0.452 val_rot_acc=0.101 Epoch 85: val_v=6.031 val_pix=62.5px val_grip_acc=0.446 val_rot_acc=0.106 Epoch 86: val_v=6.001 val_pix=60.6px val_grip_acc=0.467 val_rot_acc=0.099 Epoch 87: val_v=5.944 val_pix=54.8px val_grip_acc=0.462 val_rot_acc=0.110 Epoch 88: val_v=5.920 val_pix=50.9px val_grip_acc=0.472 val_rot_acc=0.102 Epoch 89: val_v=5.881 val_pix=59.5px val_grip_acc=0.460 val_rot_acc=0.112 Epoch 90: val_v=5.758 val_pix=54.6px val_grip_acc=0.460 val_rot_acc=0.115 Epoch 91: val_v=5.871 val_pix=58.1px val_grip_acc=0.466 val_rot_acc=0.108 Epoch 92: val_v=5.885 val_pix=57.1px val_grip_acc=0.473 val_rot_acc=0.113 Epoch 93: val_v=5.737 val_pix=52.8px val_grip_acc=0.466 val_rot_acc=0.113 Epoch 94: val_v=5.756 val_pix=61.4px val_grip_acc=0.467 val_rot_acc=0.124 Epoch 95: val_v=5.804 val_pix=56.3px val_grip_acc=0.470 val_rot_acc=0.112 Epoch 96: val_v=5.782 val_pix=53.9px val_grip_acc=0.498 val_rot_acc=0.127 Epoch 97: val_v=5.974 val_pix=59.6px val_grip_acc=0.485 val_rot_acc=0.129 Epoch 98: val_v=5.766 val_pix=56.8px val_grip_acc=0.502 val_rot_acc=0.126 Epoch 99: val_v=5.787 val_pix=58.3px val_grip_acc=0.479 val_rot_acc=0.132 Epoch 100: val_v=5.907 val_pix=53.3px val_grip_acc=0.503 val_rot_acc=0.114 Epoch 101: val_v=5.853 val_pix=54.8px val_grip_acc=0.487 val_rot_acc=0.121 Epoch 102: val_v=5.868 val_pix=57.4px val_grip_acc=0.488 val_rot_acc=0.125 Epoch 103: val_v=5.786 val_pix=47.9px val_grip_acc=0.494 val_rot_acc=0.123 Epoch 104: val_v=5.803 val_pix=51.9px val_grip_acc=0.517 val_rot_acc=0.129 Epoch 105: val_v=5.930 val_pix=49.0px val_grip_acc=0.495 val_rot_acc=0.129 Epoch 106: val_v=5.777 val_pix=56.4px val_grip_acc=0.497 val_rot_acc=0.133 Epoch 107: val_v=5.776 val_pix=56.0px val_grip_acc=0.489 val_rot_acc=0.133 Epoch 108: val_v=5.627 val_pix=51.4px val_grip_acc=0.493 val_rot_acc=0.133 Epoch 109: val_v=5.772 val_pix=52.4px val_grip_acc=0.485 val_rot_acc=0.153 Epoch 110: val_v=5.681 val_pix=54.8px val_grip_acc=0.498 val_rot_acc=0.123 Epoch 111: val_v=5.617 val_pix=50.7px val_grip_acc=0.491 val_rot_acc=0.145 Epoch 112: val_v=5.714 val_pix=47.3px val_grip_acc=0.511 val_rot_acc=0.138 Epoch 113: val_v=5.723 val_pix=46.9px val_grip_acc=0.518 val_rot_acc=0.134 Epoch 114: val_v=5.963 val_pix=48.7px val_grip_acc=0.521 val_rot_acc=0.136 Epoch 115: val_v=5.844 val_pix=47.1px val_grip_acc=0.498 val_rot_acc=0.162 Epoch 116: val_v=5.735 val_pix=46.3px val_grip_acc=0.522 val_rot_acc=0.156 Epoch 117: val_v=5.705 val_pix=46.9px val_grip_acc=0.516 val_rot_acc=0.141 Epoch 118: val_v=5.695 val_pix=45.0px val_grip_acc=0.511 val_rot_acc=0.147 Epoch 119: val_v=5.783 val_pix=50.7px val_grip_acc=0.512 val_rot_acc=0.153 Epoch 120: val_v=5.845 val_pix=52.3px val_grip_acc=0.524 val_rot_acc=0.155 Epoch 121: val_v=5.870 val_pix=49.5px val_grip_acc=0.516 val_rot_acc=0.157 Epoch 122: val_v=5.844 val_pix=45.9px val_grip_acc=0.513 val_rot_acc=0.147 Epoch 123: val_v=5.821 val_pix=49.2px val_grip_acc=0.530 val_rot_acc=0.140 Epoch 124: val_v=5.745 val_pix=46.2px val_grip_acc=0.526 val_rot_acc=0.145 Epoch 125: val_v=5.958 val_pix=47.3px val_grip_acc=0.544 val_rot_acc=0.134 Epoch 126: val_v=5.930 val_pix=49.0px val_grip_acc=0.528 val_rot_acc=0.140 Epoch 127: val_v=5.826 val_pix=47.8px val_grip_acc=0.524 val_rot_acc=0.155 Epoch 128: val_v=5.900 val_pix=48.8px val_grip_acc=0.532 val_rot_acc=0.148 Epoch 129: val_v=5.890 val_pix=45.9px val_grip_acc=0.533 val_rot_acc=0.150 Epoch 130: val_v=6.052 val_pix=47.2px val_grip_acc=0.517 val_rot_acc=0.156 Epoch 131: val_v=5.855 val_pix=45.5px val_grip_acc=0.546 val_rot_acc=0.150 Epoch 132: val_v=5.892 val_pix=47.6px val_grip_acc=0.545 val_rot_acc=0.148 Epoch 133: val_v=5.911 val_pix=51.7px val_grip_acc=0.551 val_rot_acc=0.159 Epoch 134: val_v=5.839 val_pix=46.6px val_grip_acc=0.566 val_rot_acc=0.152 Epoch 135: val_v=5.954 val_pix=46.0px val_grip_acc=0.565 val_rot_acc=0.152 Epoch 136: val_v=6.045 val_pix=42.0px val_grip_acc=0.523 val_rot_acc=0.162 Epoch 137: val_v=6.009 val_pix=48.3px val_grip_acc=0.556 val_rot_acc=0.158 Epoch 138: val_v=6.072 val_pix=44.0px val_grip_acc=0.552 val_rot_acc=0.154 Epoch 139: val_v=6.016 val_pix=49.5px val_grip_acc=0.554 val_rot_acc=0.154 Epoch 140: val_v=5.923 val_pix=47.1px val_grip_acc=0.530 val_rot_acc=0.156 Epoch 141: val_v=5.884 val_pix=50.9px val_grip_acc=0.558 val_rot_acc=0.160 Epoch 142: val_v=5.952 val_pix=46.0px val_grip_acc=0.551 val_rot_acc=0.160 Epoch 143: val_v=6.061 val_pix=46.3px val_grip_acc=0.550 val_rot_acc=0.153 Epoch 144: val_v=6.065 val_pix=49.6px val_grip_acc=0.553 val_rot_acc=0.165 Epoch 145: val_v=6.182 val_pix=46.3px val_grip_acc=0.527 val_rot_acc=0.162 Epoch 146: val_v=5.963 val_pix=44.4px val_grip_acc=0.532 val_rot_acc=0.168 Epoch 147: val_v=6.155 val_pix=46.8px val_grip_acc=0.560 val_rot_acc=0.166 Epoch 148: val_v=6.106 val_pix=47.5px val_grip_acc=0.561 val_rot_acc=0.173 Epoch 149: val_v=6.102 val_pix=44.8px val_grip_acc=0.570 val_rot_acc=0.174 Epoch 150: val_v=6.173 val_pix=49.1px val_grip_acc=0.559 val_rot_acc=0.166 Epoch 151: val_v=5.979 val_pix=42.0px val_grip_acc=0.574 val_rot_acc=0.169 Epoch 152: val_v=6.307 val_pix=49.5px val_grip_acc=0.562 val_rot_acc=0.171 Epoch 153: val_v=6.153 val_pix=45.0px val_grip_acc=0.533 val_rot_acc=0.167 Epoch 154: val_v=6.292 val_pix=42.1px val_grip_acc=0.551 val_rot_acc=0.171 Epoch 155: val_v=6.202 val_pix=47.7px val_grip_acc=0.549 val_rot_acc=0.176 Epoch 156: val_v=6.105 val_pix=44.8px val_grip_acc=0.588 val_rot_acc=0.190 Epoch 157: val_v=6.047 val_pix=43.6px val_grip_acc=0.580 val_rot_acc=0.169 Epoch 158: val_v=6.008 val_pix=45.2px val_grip_acc=0.579 val_rot_acc=0.171 Epoch 159: val_v=6.167 val_pix=46.3px val_grip_acc=0.556 val_rot_acc=0.178 Epoch 160: val_v=6.052 val_pix=45.4px val_grip_acc=0.577 val_rot_acc=0.176 Epoch 161: val_v=6.167 val_pix=44.9px val_grip_acc=0.536 val_rot_acc=0.180 Epoch 162: val_v=6.286 val_pix=48.5px val_grip_acc=0.594 val_rot_acc=0.173 Epoch 163: val_v=6.379 val_pix=42.3px val_grip_acc=0.572 val_rot_acc=0.182 Epoch 164: val_v=6.346 val_pix=45.9px val_grip_acc=0.568 val_rot_acc=0.182 Epoch 165: val_v=6.393 val_pix=45.2px val_grip_acc=0.556 val_rot_acc=0.176 Epoch 166: val_v=6.422 val_pix=45.3px val_grip_acc=0.588 val_rot_acc=0.183 Epoch 167: val_v=6.307 val_pix=43.9px val_grip_acc=0.562 val_rot_acc=0.182 Epoch 168: val_v=6.398 val_pix=45.2px val_grip_acc=0.566 val_rot_acc=0.185 Epoch 169: val_v=6.376 val_pix=44.0px val_grip_acc=0.537 val_rot_acc=0.177 Epoch 170: val_v=6.470 val_pix=46.1px val_grip_acc=0.569 val_rot_acc=0.181 Epoch 171: val_v=6.508 val_pix=43.3px val_grip_acc=0.554 val_rot_acc=0.176 Epoch 172: val_v=6.480 val_pix=44.8px val_grip_acc=0.553 val_rot_acc=0.167 Epoch 173: val_v=6.398 val_pix=45.6px val_grip_acc=0.565 val_rot_acc=0.174 Epoch 174: val_v=6.579 val_pix=39.9px val_grip_acc=0.556 val_rot_acc=0.180 Epoch 175: val_v=6.458 val_pix=45.2px val_grip_acc=0.578 val_rot_acc=0.177 Epoch 176: val_v=6.243 val_pix=41.3px val_grip_acc=0.555 val_rot_acc=0.178 Epoch 177: val_v=6.471 val_pix=46.2px val_grip_acc=0.594 val_rot_acc=0.182 Epoch 178: val_v=6.273 val_pix=46.0px val_grip_acc=0.563 val_rot_acc=0.181 Epoch 179: val_v=6.646 val_pix=40.4px val_grip_acc=0.565 val_rot_acc=0.185 Epoch 180: val_v=6.338 val_pix=42.4px val_grip_acc=0.572 val_rot_acc=0.202 Epoch 181: val_v=6.719 val_pix=44.7px val_grip_acc=0.581 val_rot_acc=0.192 Epoch 182: val_v=6.541 val_pix=41.0px val_grip_acc=0.550 val_rot_acc=0.189 Epoch 183: val_v=6.046 val_pix=44.3px val_grip_acc=0.573 val_rot_acc=0.193 Epoch 184: val_v=6.093 val_pix=45.8px val_grip_acc=0.576 val_rot_acc=0.193 Epoch 185: val_v=6.492 val_pix=42.6px val_grip_acc=0.581 val_rot_acc=0.191 Epoch 186: val_v=6.233 val_pix=41.9px val_grip_acc=0.578 val_rot_acc=0.194 Epoch 187: val_v=6.243 val_pix=40.3px val_grip_acc=0.598 val_rot_acc=0.186 Epoch 188: val_v=6.388 val_pix=38.5px val_grip_acc=0.582 val_rot_acc=0.195 Epoch 189: val_v=6.446 val_pix=40.9px val_grip_acc=0.567 val_rot_acc=0.198 Epoch 190: val_v=6.690 val_pix=41.0px val_grip_acc=0.579 val_rot_acc=0.189 Epoch 191: val_v=6.664 val_pix=44.3px val_grip_acc=0.562 val_rot_acc=0.195 Epoch 192: val_v=6.549 val_pix=40.8px val_grip_acc=0.590 val_rot_acc=0.208 Epoch 193: val_v=6.483 val_pix=43.0px val_grip_acc=0.574 val_rot_acc=0.212 Epoch 194: val_v=6.570 val_pix=41.4px val_grip_acc=0.550 val_rot_acc=0.200 Epoch 195: val_v=6.659 val_pix=42.0px val_grip_acc=0.574 val_rot_acc=0.199 Epoch 196: val_v=6.628 val_pix=40.2px val_grip_acc=0.563 val_rot_acc=0.199 Epoch 197: val_v=6.797 val_pix=42.0px val_grip_acc=0.581 val_rot_acc=0.191 Epoch 198: val_v=6.643 val_pix=39.7px val_grip_acc=0.568 val_rot_acc=0.188 Epoch 199: val_v=6.872 val_pix=39.9px val_grip_acc=0.549 val_rot_acc=0.199