Loading dataset... Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) izzy_home_recording_2: 102 frames loaded Smith300DA3VolumeDataset ready: 5 eps, 102 frames, 97 samples, rgb=0.31 GB, depth=0.10 GB Height range observed: [0.0407, 0.1898] → padded [0.0332, 0.1972], 32 bins of ~5.1mm each Z-bin occupancy: min=0, max=8, empty_bins=3 Train: 88 Val: 9 Building model... height_enc=sin time_enc=sin dino_variant=dinov3_vits16plus Trainable: 29,731,793 Resuming from /data/cameron/para/libero/checkpoints/da3_dino_kv_sin_sin_full/latest.pth loaded ckpt epoch=29; missing=0 (expect grip/rot heads), unexpected=0 Epoch 0: val_v=9.1768 val_pix=33.9px val_z_err=5.35bins val_joint_top1=0.011 val_grip_acc=0.000 val_rot_err=5.95bins Epoch 1: val_v=7.7354 val_pix=40.1px val_z_err=6.21bins val_joint_top1=0.034 val_grip_acc=0.000 val_rot_err=5.66bins Epoch 2: val_v=6.3105 val_pix=26.6px val_z_err=4.63bins val_joint_top1=0.062 val_grip_acc=0.000 val_rot_err=5.42bins Epoch 3: val_v=5.4614 val_pix=21.9px val_z_err=4.03bins val_joint_top1=0.085 val_grip_acc=0.011 val_rot_err=5.36bins Epoch 4: val_v=4.9651 val_pix=21.0px val_z_err=4.32bins val_joint_top1=0.136 val_grip_acc=0.011 val_rot_err=5.31bins Epoch 5: val_v=4.6586 val_pix=23.7px val_z_err=4.22bins val_joint_top1=0.136 val_grip_acc=0.011 val_rot_err=5.30bins Epoch 6: val_v=4.3242 val_pix=21.5px val_z_err=3.19bins val_joint_top1=0.148 val_grip_acc=0.011 val_rot_err=5.14bins Epoch 7: val_v=4.2536 val_pix=21.5px val_z_err=3.93bins val_joint_top1=0.097 val_grip_acc=0.011 val_rot_err=5.03bins Epoch 8: val_v=4.0487 val_pix=19.2px val_z_err=2.41bins val_joint_top1=0.244 val_grip_acc=0.011 val_rot_err=5.15bins Epoch 9: val_v=3.7319 val_pix=17.9px val_z_err=2.52bins val_joint_top1=0.256 val_grip_acc=0.011 val_rot_err=5.09bins Epoch 10: val_v=4.1541 val_pix=17.9px val_z_err=2.47bins val_joint_top1=0.182 val_grip_acc=0.011 val_rot_err=5.09bins Epoch 11: val_v=3.7443 val_pix=19.1px val_z_err=3.01bins val_joint_top1=0.256 val_grip_acc=0.023 val_rot_err=5.12bins Epoch 12: val_v=3.7371 val_pix=18.0px val_z_err=2.60bins val_joint_top1=0.205 val_grip_acc=0.023 val_rot_err=5.11bins Epoch 13: val_v=3.5315 val_pix=17.9px val_z_err=2.35bins val_joint_top1=0.278 val_grip_acc=0.023 val_rot_err=5.13bins Epoch 14: val_v=3.8469 val_pix=18.3px val_z_err=3.14bins val_joint_top1=0.153 val_grip_acc=0.023 val_rot_err=5.08bins Epoch 15: val_v=3.8454 val_pix=18.1px val_z_err=3.05bins val_joint_top1=0.165 val_grip_acc=0.023 val_rot_err=5.00bins Epoch 16: val_v=3.7912 val_pix=18.8px val_z_err=3.18bins val_joint_top1=0.142 val_grip_acc=0.011 val_rot_err=5.15bins Epoch 17: val_v=3.8010 val_pix=19.5px val_z_err=3.11bins val_joint_top1=0.278 val_grip_acc=0.011 val_rot_err=5.05bins Epoch 18: val_v=4.1991 val_pix=18.0px val_z_err=2.12bins val_joint_top1=0.267 val_grip_acc=0.011 val_rot_err=5.01bins Epoch 19: val_v=3.8703 val_pix=18.9px val_z_err=3.11bins val_joint_top1=0.267 val_grip_acc=0.023 val_rot_err=5.05bins Epoch 20: val_v=3.6261 val_pix=19.2px val_z_err=2.51bins val_joint_top1=0.278 val_grip_acc=0.023 val_rot_err=5.08bins Epoch 21: val_v=3.9628 val_pix=18.4px val_z_err=2.72bins val_joint_top1=0.165 val_grip_acc=0.023 val_rot_err=5.00bins Epoch 22: val_v=3.7539 val_pix=20.6px val_z_err=3.57bins val_joint_top1=0.205 val_grip_acc=0.023 val_rot_err=4.92bins Epoch 23: val_v=3.9816 val_pix=19.4px val_z_err=2.86bins val_joint_top1=0.142 val_grip_acc=0.034 val_rot_err=4.89bins Epoch 24: val_v=3.9638 val_pix=19.5px val_z_err=2.94bins val_joint_top1=0.330 val_grip_acc=0.034 val_rot_err=4.91bins Epoch 25: val_v=4.1229 val_pix=20.2px val_z_err=3.30bins val_joint_top1=0.216 val_grip_acc=0.045 val_rot_err=4.93bins Epoch 26: val_v=3.8794 val_pix=18.4px val_z_err=3.12bins val_joint_top1=0.142 val_grip_acc=0.034 val_rot_err=4.85bins Epoch 27: val_v=4.2199 val_pix=19.1px val_z_err=3.20bins val_joint_top1=0.205 val_grip_acc=0.034 val_rot_err=4.83bins Epoch 28: val_v=4.2001 val_pix=20.9px val_z_err=3.44bins val_joint_top1=0.205 val_grip_acc=0.034 val_rot_err=4.82bins Epoch 29: val_v=3.9629 val_pix=20.0px val_z_err=3.88bins val_joint_top1=0.153 val_grip_acc=0.045 val_rot_err=4.80bins Epoch 30: val_v=4.2345 val_pix=22.7px val_z_err=3.98bins val_joint_top1=0.205 val_grip_acc=0.034 val_rot_err=4.73bins Epoch 31: val_v=4.1979 val_pix=22.0px val_z_err=3.57bins val_joint_top1=0.131 val_grip_acc=0.045 val_rot_err=4.88bins Epoch 32: val_v=3.9499 val_pix=20.6px val_z_err=3.41bins val_joint_top1=0.131 val_grip_acc=0.034 val_rot_err=4.78bins Epoch 33: val_v=3.8568 val_pix=19.5px val_z_err=3.12bins val_joint_top1=0.216 val_grip_acc=0.045 val_rot_err=4.85bins Epoch 34: val_v=3.8830 val_pix=17.6px val_z_err=2.98bins val_joint_top1=0.216 val_grip_acc=0.057 val_rot_err=4.71bins Epoch 35: val_v=4.1674 val_pix=20.1px val_z_err=3.32bins val_joint_top1=0.278 val_grip_acc=0.057 val_rot_err=4.73bins Epoch 36: val_v=4.1972 val_pix=22.6px val_z_err=4.14bins val_joint_top1=0.142 val_grip_acc=0.057 val_rot_err=4.76bins Epoch 37: val_v=3.7858 val_pix=21.4px val_z_err=3.54bins val_joint_top1=0.131 val_grip_acc=0.057 val_rot_err=4.74bins Epoch 38: val_v=4.0145 val_pix=20.5px val_z_err=3.38bins val_joint_top1=0.205 val_grip_acc=0.057 val_rot_err=4.71bins Epoch 39: val_v=4.0364 val_pix=20.5px val_z_err=3.41bins val_joint_top1=0.193 val_grip_acc=0.091 val_rot_err=4.72bins Epoch 40: val_v=4.1556 val_pix=19.3px val_z_err=3.28bins val_joint_top1=0.205 val_grip_acc=0.091 val_rot_err=4.86bins Epoch 41: val_v=4.0655 val_pix=20.8px val_z_err=3.68bins val_joint_top1=0.216 val_grip_acc=0.114 val_rot_err=4.69bins Epoch 42: val_v=4.4439 val_pix=18.9px val_z_err=3.31bins val_joint_top1=0.142 val_grip_acc=0.080 val_rot_err=4.75bins Epoch 43: val_v=4.2344 val_pix=23.3px val_z_err=4.16bins val_joint_top1=0.205 val_grip_acc=0.102 val_rot_err=4.61bins Epoch 44: val_v=4.2182 val_pix=18.3px val_z_err=3.30bins val_joint_top1=0.142 val_grip_acc=0.125 val_rot_err=4.77bins Epoch 45: val_v=4.1394 val_pix=24.5px val_z_err=3.84bins val_joint_top1=0.193 val_grip_acc=0.159 val_rot_err=4.66bins Epoch 46: val_v=4.2567 val_pix=19.7px val_z_err=3.43bins val_joint_top1=0.131 val_grip_acc=0.125 val_rot_err=4.70bins Epoch 47: val_v=4.1632 val_pix=20.6px val_z_err=3.34bins val_joint_top1=0.193 val_grip_acc=0.193 val_rot_err=4.60bins Epoch 48: val_v=4.2809 val_pix=20.4px val_z_err=3.53bins val_joint_top1=0.142 val_grip_acc=0.193 val_rot_err=4.82bins Epoch 49: val_v=4.0588 val_pix=21.7px val_z_err=3.54bins val_joint_top1=0.131 val_grip_acc=0.256 val_rot_err=4.78bins Epoch 50: val_v=4.2648 val_pix=18.5px val_z_err=3.16bins val_joint_top1=0.216 val_grip_acc=0.216 val_rot_err=4.80bins Epoch 51: val_v=4.0539 val_pix=21.2px val_z_err=3.78bins val_joint_top1=0.131 val_grip_acc=0.278 val_rot_err=4.64bins Epoch 52: val_v=3.9938 val_pix=22.1px val_z_err=3.43bins val_joint_top1=0.216 val_grip_acc=0.278 val_rot_err=4.53bins Epoch 53: val_v=4.0323 val_pix=20.6px val_z_err=3.64bins val_joint_top1=0.153 val_grip_acc=0.278 val_rot_err=4.62bins Epoch 54: val_v=4.0462 val_pix=18.7px val_z_err=3.30bins val_joint_top1=0.216 val_grip_acc=0.352 val_rot_err=4.36bins Epoch 55: val_v=4.0552 val_pix=19.2px val_z_err=3.34bins val_joint_top1=0.153 val_grip_acc=0.403 val_rot_err=4.55bins Epoch 56: val_v=4.0860 val_pix=20.4px val_z_err=3.19bins val_joint_top1=0.227 val_grip_acc=0.415 val_rot_err=4.54bins Epoch 57: val_v=3.9625 val_pix=19.4px val_z_err=3.51bins val_joint_top1=0.131 val_grip_acc=0.403 val_rot_err=4.58bins Epoch 58: val_v=4.3196 val_pix=19.8px val_z_err=3.29bins val_joint_top1=0.193 val_grip_acc=0.375 val_rot_err=4.40bins Epoch 59: val_v=4.0383 val_pix=20.3px val_z_err=3.85bins val_joint_top1=0.165 val_grip_acc=0.426 val_rot_err=4.62bins Epoch 60: val_v=4.1852 val_pix=22.2px val_z_err=3.60bins val_joint_top1=0.193 val_grip_acc=0.386 val_rot_err=4.49bins Epoch 61: val_v=4.0071 val_pix=23.4px val_z_err=4.36bins val_joint_top1=0.216 val_grip_acc=0.523 val_rot_err=4.38bins Epoch 62: val_v=4.3454 val_pix=19.0px val_z_err=3.37bins val_joint_top1=0.227 val_grip_acc=0.386 val_rot_err=4.41bins Epoch 63: val_v=3.9675 val_pix=20.7px val_z_err=3.59bins val_joint_top1=0.153 val_grip_acc=0.460 val_rot_err=4.24bins Epoch 64: val_v=4.1710 val_pix=20.1px val_z_err=3.46bins val_joint_top1=0.165 val_grip_acc=0.460 val_rot_err=4.23bins Epoch 65: val_v=4.1903 val_pix=18.0px val_z_err=3.11bins val_joint_top1=0.227 val_grip_acc=0.460 val_rot_err=4.45bins Epoch 66: val_v=4.1216 val_pix=19.5px val_z_err=3.31bins val_joint_top1=0.227 val_grip_acc=0.523 val_rot_err=4.28bins Epoch 67: val_v=4.2257 val_pix=20.2px val_z_err=3.91bins val_joint_top1=0.165 val_grip_acc=0.534 val_rot_err=4.47bins Epoch 68: val_v=4.1756 val_pix=21.5px val_z_err=3.46bins val_joint_top1=0.176 val_grip_acc=0.460 val_rot_err=4.26bins Epoch 69: val_v=4.2684 val_pix=19.7px val_z_err=3.49bins val_joint_top1=0.216 val_grip_acc=0.460 val_rot_err=4.12bins Epoch 70: val_v=4.1503 val_pix=19.7px val_z_err=3.47bins val_joint_top1=0.205 val_grip_acc=0.472 val_rot_err=4.08bins Epoch 71: val_v=4.0702 val_pix=19.9px val_z_err=3.63bins val_joint_top1=0.227 val_grip_acc=0.534 val_rot_err=4.26bins Epoch 72: val_v=4.1328 val_pix=19.7px val_z_err=3.64bins val_joint_top1=0.153 val_grip_acc=0.534 val_rot_err=4.24bins Epoch 73: val_v=4.0917 val_pix=21.3px val_z_err=3.66bins val_joint_top1=0.153 val_grip_acc=0.523 val_rot_err=4.33bins Epoch 74: val_v=4.2334 val_pix=21.9px val_z_err=3.76bins val_joint_top1=0.193 val_grip_acc=0.523 val_rot_err=4.09bins Epoch 75: val_v=4.0494 val_pix=20.2px val_z_err=3.48bins val_joint_top1=0.188 val_grip_acc=0.534 val_rot_err=4.12bins Epoch 76: val_v=4.3647 val_pix=21.9px val_z_err=3.57bins val_joint_top1=0.165 val_grip_acc=0.534 val_rot_err=4.04bins Epoch 77: val_v=4.0273 val_pix=26.4px val_z_err=3.90bins val_joint_top1=0.341 val_grip_acc=0.597 val_rot_err=4.24bins Epoch 78: val_v=4.0845 val_pix=23.3px val_z_err=3.86bins val_joint_top1=0.176 val_grip_acc=0.545 val_rot_err=4.40bins Epoch 79: val_v=4.1161 val_pix=18.8px val_z_err=3.14bins val_joint_top1=0.227 val_grip_acc=0.523 val_rot_err=4.08bins Epoch 80: val_v=4.2129 val_pix=22.2px val_z_err=3.59bins val_joint_top1=0.165 val_grip_acc=0.608 val_rot_err=4.39bins Epoch 81: val_v=4.0905 val_pix=20.4px val_z_err=3.36bins val_joint_top1=0.153 val_grip_acc=0.608 val_rot_err=4.26bins Epoch 82: val_v=4.3649 val_pix=19.5px val_z_err=3.49bins val_joint_top1=0.227 val_grip_acc=0.523 val_rot_err=4.25bins Epoch 83: val_v=3.9299 val_pix=24.5px val_z_err=3.70bins val_joint_top1=0.216 val_grip_acc=0.608 val_rot_err=4.39bins Epoch 84: val_v=4.1918 val_pix=25.0px val_z_err=3.80bins val_joint_top1=0.227 val_grip_acc=0.534 val_rot_err=4.23bins Epoch 85: val_v=4.2218 val_pix=20.2px val_z_err=3.60bins val_joint_top1=0.142 val_grip_acc=0.585 val_rot_err=3.95bins Epoch 86: val_v=4.0661 val_pix=23.0px val_z_err=3.57bins val_joint_top1=0.227 val_grip_acc=0.597 val_rot_err=4.23bins Epoch 87: val_v=4.1450 val_pix=23.8px val_z_err=3.57bins val_joint_top1=0.165 val_grip_acc=0.597 val_rot_err=4.14bins Epoch 88: val_v=4.1162 val_pix=21.1px val_z_err=3.44bins val_joint_top1=0.239 val_grip_acc=0.608 val_rot_err=4.19bins Epoch 89: val_v=4.1313 val_pix=22.6px val_z_err=3.60bins val_joint_top1=0.176 val_grip_acc=0.608 val_rot_err=4.14bins Epoch 90: val_v=4.2842 val_pix=23.0px val_z_err=3.72bins val_joint_top1=0.227 val_grip_acc=0.545 val_rot_err=4.32bins Epoch 91: val_v=4.0286 val_pix=25.2px val_z_err=3.94bins val_joint_top1=0.153 val_grip_acc=0.597 val_rot_err=4.03bins Epoch 92: val_v=4.0235 val_pix=21.7px val_z_err=3.85bins val_joint_top1=0.182 val_grip_acc=0.534 val_rot_err=4.38bins Epoch 93: val_v=4.0670 val_pix=27.0px val_z_err=4.85bins val_joint_top1=0.091 val_grip_acc=0.597 val_rot_err=4.34bins Epoch 94: val_v=4.2659 val_pix=26.6px val_z_err=4.03bins val_joint_top1=0.227 val_grip_acc=0.597 val_rot_err=4.10bins Epoch 95: val_v=4.2026 val_pix=23.8px val_z_err=3.77bins val_joint_top1=0.176 val_grip_acc=0.597 val_rot_err=4.16bins Epoch 96: val_v=4.1821 val_pix=22.9px val_z_err=3.57bins val_joint_top1=0.227 val_grip_acc=0.585 val_rot_err=4.30bins Epoch 97: val_v=4.1235 val_pix=23.1px val_z_err=3.56bins val_joint_top1=0.153 val_grip_acc=0.597 val_rot_err=4.12bins Epoch 98: val_v=4.1113 val_pix=26.6px val_z_err=3.99bins val_joint_top1=0.227 val_grip_acc=0.585 val_rot_err=4.08bins Epoch 99: val_v=4.1884 val_pix=23.2px val_z_err=3.81bins val_joint_top1=0.165 val_grip_acc=0.597 val_rot_err=4.08bins