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: 29,767,953 Resuming from /data/cameron/para/libero/checkpoints/da3_dino_kv_sin_sin_full/latest.pth loaded ckpt epoch=29; missing=16 (expect grip/rot heads), unexpected=12 Epoch 0: val_v=9.1231 val_pix=29.7px val_z_err=5.15bins val_joint_top1=0.023 val_grip_acc=0.188 val_rot_err=11.61bins Epoch 1: val_v=7.7982 val_pix=43.6px val_z_err=6.61bins val_joint_top1=0.034 val_grip_acc=0.290 val_rot_err=7.93bins Epoch 2: val_v=6.4233 val_pix=24.9px val_z_err=5.36bins val_joint_top1=0.023 val_grip_acc=0.312 val_rot_err=7.18bins Epoch 3: val_v=5.3968 val_pix=24.5px val_z_err=3.84bins val_joint_top1=0.148 val_grip_acc=0.347 val_rot_err=7.31bins Epoch 4: val_v=4.9146 val_pix=20.9px val_z_err=3.18bins val_joint_top1=0.159 val_grip_acc=0.347 val_rot_err=6.49bins Epoch 5: val_v=4.5852 val_pix=20.4px val_z_err=3.02bins val_joint_top1=0.159 val_grip_acc=0.369 val_rot_err=6.10bins Epoch 6: val_v=4.2325 val_pix=20.3px val_z_err=2.96bins val_joint_top1=0.244 val_grip_acc=0.392 val_rot_err=5.78bins Epoch 7: val_v=4.1106 val_pix=20.8px val_z_err=2.70bins val_joint_top1=0.244 val_grip_acc=0.392 val_rot_err=5.71bins Epoch 8: val_v=4.0002 val_pix=19.8px val_z_err=2.44bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=5.31bins Epoch 9: val_v=4.0597 val_pix=19.5px val_z_err=2.31bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=5.17bins Epoch 10: val_v=4.0420 val_pix=19.0px val_z_err=2.56bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=5.27bins Epoch 11: val_v=4.0548 val_pix=17.8px val_z_err=2.27bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=5.26bins Epoch 12: val_v=4.1260 val_pix=19.3px val_z_err=2.36bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=5.69bins Epoch 13: val_v=3.7910 val_pix=19.2px val_z_err=2.52bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=5.68bins Epoch 14: val_v=4.0839 val_pix=19.5px val_z_err=2.38bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=5.64bins Epoch 15: val_v=4.2523 val_pix=20.0px val_z_err=3.02bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=5.65bins Epoch 16: val_v=3.8587 val_pix=18.7px val_z_err=2.89bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.06bins Epoch 17: val_v=4.1214 val_pix=19.1px val_z_err=2.54bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=5.80bins Epoch 18: val_v=4.0831 val_pix=18.2px val_z_err=2.70bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=5.85bins Epoch 19: val_v=4.2305 val_pix=18.6px val_z_err=2.88bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.37bins Epoch 20: val_v=3.9126 val_pix=19.2px val_z_err=2.99bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.28bins Epoch 21: val_v=4.3528 val_pix=18.2px val_z_err=3.15bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=5.66bins Epoch 22: val_v=4.0407 val_pix=18.4px val_z_err=2.85bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=5.30bins Epoch 23: val_v=4.3324 val_pix=18.6px val_z_err=3.12bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=5.65bins Epoch 24: val_v=4.0799 val_pix=18.0px val_z_err=2.91bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.70bins Epoch 25: val_v=4.0631 val_pix=18.7px val_z_err=3.07bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.57bins Epoch 26: val_v=4.3890 val_pix=18.0px val_z_err=3.31bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=6.59bins Epoch 27: val_v=4.0829 val_pix=19.4px val_z_err=3.56bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=6.77bins Epoch 28: val_v=3.9603 val_pix=18.5px val_z_err=3.26bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=6.81bins Epoch 29: val_v=4.0550 val_pix=17.8px val_z_err=3.21bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.78bins Epoch 30: val_v=4.0748 val_pix=18.3px val_z_err=3.34bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=6.85bins Epoch 31: val_v=4.1462 val_pix=18.2px val_z_err=3.05bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=7.03bins Epoch 32: val_v=4.0985 val_pix=19.1px val_z_err=3.47bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.95bins Epoch 33: val_v=4.2826 val_pix=17.8px val_z_err=3.15bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.98bins Epoch 34: val_v=3.9721 val_pix=17.0px val_z_err=2.73bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.97bins Epoch 35: val_v=4.5594 val_pix=18.0px val_z_err=3.32bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.98bins Epoch 36: val_v=3.8392 val_pix=16.7px val_z_err=2.46bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.00bins Epoch 37: val_v=4.3057 val_pix=18.4px val_z_err=3.36bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.13bins Epoch 38: val_v=4.4230 val_pix=17.2px val_z_err=2.89bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.98bins Epoch 39: val_v=4.3127 val_pix=18.1px val_z_err=3.36bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.97bins Epoch 40: val_v=4.4134 val_pix=19.4px val_z_err=3.19bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.97bins Epoch 41: val_v=4.3705 val_pix=19.4px val_z_err=3.30bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.94bins Epoch 42: val_v=4.3298 val_pix=18.9px val_z_err=3.53bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.96bins Epoch 43: val_v=4.5260 val_pix=17.9px val_z_err=3.00bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.89bins Epoch 44: val_v=4.1608 val_pix=18.1px val_z_err=3.57bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=6.89bins Epoch 45: val_v=4.6024 val_pix=20.1px val_z_err=4.22bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=6.89bins Epoch 46: val_v=4.4051 val_pix=18.5px val_z_err=3.38bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=6.89bins Epoch 47: val_v=4.5427 val_pix=18.8px val_z_err=3.11bins val_joint_top1=0.119 val_grip_acc=0.392 val_rot_err=6.89bins Epoch 48: val_v=4.2221 val_pix=18.1px val_z_err=3.27bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.92bins Epoch 49: val_v=4.8415 val_pix=19.0px val_z_err=3.41bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=6.88bins Epoch 50: val_v=4.3476 val_pix=18.9px val_z_err=3.55bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=6.91bins Epoch 51: val_v=4.4699 val_pix=18.3px val_z_err=3.21bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.88bins Epoch 52: val_v=4.4242 val_pix=19.2px val_z_err=3.59bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.88bins Epoch 53: val_v=4.5255 val_pix=18.0px val_z_err=3.56bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=6.84bins Epoch 54: val_v=4.3800 val_pix=17.6px val_z_err=3.24bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=6.87bins Epoch 55: val_v=4.4330 val_pix=18.7px val_z_err=3.39bins val_joint_top1=0.068 val_grip_acc=0.392 val_rot_err=6.83bins Epoch 56: val_v=4.3309 val_pix=18.8px val_z_err=3.40bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.84bins Epoch 57: val_v=4.5428 val_pix=18.4px val_z_err=2.60bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=6.83bins Epoch 58: val_v=4.5345 val_pix=16.7px val_z_err=3.30bins val_joint_top1=0.176 val_grip_acc=0.392 val_rot_err=6.86bins Epoch 59: val_v=4.4206 val_pix=19.8px val_z_err=4.31bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.88bins Epoch 60: val_v=4.5443 val_pix=20.7px val_z_err=3.93bins val_joint_top1=0.068 val_grip_acc=0.392 val_rot_err=7.26bins Epoch 61: val_v=4.3586 val_pix=18.7px val_z_err=3.57bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=7.27bins Epoch 62: val_v=4.4048 val_pix=18.8px val_z_err=3.01bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=7.23bins Epoch 63: val_v=4.3422 val_pix=19.3px val_z_err=3.55bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=7.25bins Epoch 64: val_v=4.3421 val_pix=17.9px val_z_err=3.01bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=7.27bins Epoch 65: val_v=4.0707 val_pix=19.8px val_z_err=3.68bins val_joint_top1=0.227 val_grip_acc=0.392 val_rot_err=7.28bins Epoch 66: val_v=4.4654 val_pix=17.5px val_z_err=3.04bins val_joint_top1=0.227 val_grip_acc=0.392 val_rot_err=7.32bins Epoch 67: val_v=4.0717 val_pix=19.4px val_z_err=3.20bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=7.32bins Epoch 68: val_v=4.3955 val_pix=19.3px val_z_err=2.71bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=7.40bins Epoch 69: val_v=4.1245 val_pix=18.9px val_z_err=3.43bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=8.12bins Epoch 70: val_v=4.0441 val_pix=18.6px val_z_err=3.14bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=8.83bins Epoch 71: val_v=3.9617 val_pix=19.0px val_z_err=3.03bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=8.86bins Epoch 72: val_v=4.0526 val_pix=20.5px val_z_err=3.59bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.86bins Epoch 73: val_v=3.9486 val_pix=22.3px val_z_err=4.15bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.85bins Epoch 74: val_v=4.2498 val_pix=20.0px val_z_err=3.58bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=8.85bins Epoch 75: val_v=4.0418 val_pix=19.3px val_z_err=3.20bins val_joint_top1=0.102 val_grip_acc=0.392 val_rot_err=8.85bins Epoch 76: val_v=4.0029 val_pix=20.0px val_z_err=3.66bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=8.81bins Epoch 77: val_v=4.0110 val_pix=19.3px val_z_err=3.23bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.68bins Epoch 78: val_v=4.0670 val_pix=20.5px val_z_err=3.33bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 79: val_v=4.2264 val_pix=23.4px val_z_err=3.74bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 80: val_v=4.1420 val_pix=21.5px val_z_err=3.83bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 81: val_v=4.3145 val_pix=22.2px val_z_err=4.07bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 82: val_v=4.1770 val_pix=20.7px val_z_err=3.95bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 83: val_v=4.1363 val_pix=25.5px val_z_err=4.41bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 84: val_v=4.2200 val_pix=21.3px val_z_err=3.42bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.69bins Epoch 85: val_v=4.1345 val_pix=21.7px val_z_err=4.18bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.71bins Epoch 86: val_v=4.1895 val_pix=22.9px val_z_err=3.76bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.71bins Epoch 87: val_v=4.0800 val_pix=22.7px val_z_err=3.65bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.60bins Epoch 88: val_v=4.0672 val_pix=22.8px val_z_err=4.44bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=8.47bins Epoch 89: val_v=4.1828 val_pix=23.4px val_z_err=3.99bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.47bins Epoch 90: val_v=4.1629 val_pix=22.8px val_z_err=3.93bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=8.41bins Epoch 91: val_v=4.1513 val_pix=24.7px val_z_err=4.73bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.39bins Epoch 92: val_v=4.2006 val_pix=23.9px val_z_err=3.90bins val_joint_top1=0.119 val_grip_acc=0.392 val_rot_err=8.37bins Epoch 93: val_v=4.2530 val_pix=22.7px val_z_err=3.93bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.39bins Epoch 94: val_v=4.3646 val_pix=24.1px val_z_err=4.51bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.38bins Epoch 95: val_v=4.1698 val_pix=25.3px val_z_err=4.08bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=8.38bins Epoch 96: val_v=4.3818 val_pix=24.5px val_z_err=4.61bins val_joint_top1=0.119 val_grip_acc=0.392 val_rot_err=8.38bins Epoch 97: val_v=4.3390 val_pix=22.1px val_z_err=3.59bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.40bins Epoch 98: val_v=4.3691 val_pix=21.2px val_z_err=4.36bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=8.38bins Epoch 99: val_v=4.1698 val_pix=25.5px val_z_err=4.60bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=8.39bins