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=8.9887 val_pix=32.2px val_z_err=5.40bins val_joint_top1=0.023 val_grip_acc=0.000 val_rot_err=9.37bins Epoch 1: val_v=7.5889 val_pix=37.1px val_z_err=6.30bins val_joint_top1=0.023 val_grip_acc=0.000 val_rot_err=9.30bins Epoch 2: val_v=6.0314 val_pix=36.3px val_z_err=5.32bins val_joint_top1=0.023 val_grip_acc=0.000 val_rot_err=9.90bins Epoch 3: val_v=5.3151 val_pix=24.7px val_z_err=4.86bins val_joint_top1=0.085 val_grip_acc=0.000 val_rot_err=9.22bins Epoch 4: val_v=4.8987 val_pix=22.7px val_z_err=3.56bins val_joint_top1=0.159 val_grip_acc=0.000 val_rot_err=8.96bins Epoch 5: val_v=4.5914 val_pix=21.6px val_z_err=3.83bins val_joint_top1=0.159 val_grip_acc=0.011 val_rot_err=9.37bins Epoch 6: val_v=4.2417 val_pix=20.4px val_z_err=2.53bins val_joint_top1=0.244 val_grip_acc=0.011 val_rot_err=9.25bins Epoch 7: val_v=4.1747 val_pix=20.3px val_z_err=2.81bins val_joint_top1=0.193 val_grip_acc=0.011 val_rot_err=9.35bins Epoch 8: val_v=3.9809 val_pix=17.9px val_z_err=2.42bins val_joint_top1=0.318 val_grip_acc=0.011 val_rot_err=9.39bins Epoch 9: val_v=3.8612 val_pix=20.2px val_z_err=2.62bins val_joint_top1=0.307 val_grip_acc=0.011 val_rot_err=9.33bins Epoch 10: val_v=3.8994 val_pix=18.3px val_z_err=2.39bins val_joint_top1=0.256 val_grip_acc=0.011 val_rot_err=9.54bins Epoch 11: val_v=3.8979 val_pix=17.3px val_z_err=2.57bins val_joint_top1=0.244 val_grip_acc=0.023 val_rot_err=9.65bins Epoch 12: val_v=3.8852 val_pix=19.0px val_z_err=2.56bins val_joint_top1=0.295 val_grip_acc=0.034 val_rot_err=8.71bins Epoch 13: val_v=3.7731 val_pix=17.1px val_z_err=2.23bins val_joint_top1=0.256 val_grip_acc=0.034 val_rot_err=8.82bins Epoch 14: val_v=4.0602 val_pix=18.2px val_z_err=2.24bins val_joint_top1=0.193 val_grip_acc=0.045 val_rot_err=8.40bins Epoch 15: val_v=3.6947 val_pix=17.2px val_z_err=2.11bins val_joint_top1=0.318 val_grip_acc=0.080 val_rot_err=6.29bins Epoch 16: val_v=3.8548 val_pix=18.0px val_z_err=2.34bins val_joint_top1=0.182 val_grip_acc=0.102 val_rot_err=7.88bins Epoch 17: val_v=4.2966 val_pix=18.7px val_z_err=2.73bins val_joint_top1=0.182 val_grip_acc=0.165 val_rot_err=7.74bins Epoch 18: val_v=4.1440 val_pix=18.5px val_z_err=2.69bins val_joint_top1=0.131 val_grip_acc=0.210 val_rot_err=6.17bins Epoch 19: val_v=4.0946 val_pix=18.0px val_z_err=2.54bins val_joint_top1=0.256 val_grip_acc=0.210 val_rot_err=6.79bins Epoch 20: val_v=4.0367 val_pix=17.8px val_z_err=2.56bins val_joint_top1=0.131 val_grip_acc=0.284 val_rot_err=7.07bins Epoch 21: val_v=3.9924 val_pix=18.1px val_z_err=2.15bins val_joint_top1=0.267 val_grip_acc=0.307 val_rot_err=7.54bins Epoch 22: val_v=4.0852 val_pix=17.5px val_z_err=2.80bins val_joint_top1=0.267 val_grip_acc=0.381 val_rot_err=6.79bins Epoch 23: val_v=4.1253 val_pix=17.0px val_z_err=2.35bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.25bins Epoch 24: val_v=4.1667 val_pix=18.5px val_z_err=2.98bins val_joint_top1=0.170 val_grip_acc=0.392 val_rot_err=7.24bins Epoch 25: val_v=3.9599 val_pix=18.6px val_z_err=3.09bins val_joint_top1=0.244 val_grip_acc=0.392 val_rot_err=6.71bins Epoch 26: val_v=4.4131 val_pix=19.0px val_z_err=2.85bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.14bins Epoch 27: val_v=4.1195 val_pix=17.9px val_z_err=2.76bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.36bins Epoch 28: val_v=4.5211 val_pix=18.3px val_z_err=2.90bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.49bins Epoch 29: val_v=3.9794 val_pix=16.7px val_z_err=2.55bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.10bins Epoch 30: val_v=4.1921 val_pix=18.2px val_z_err=3.12bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=7.07bins Epoch 31: val_v=4.2237 val_pix=18.6px val_z_err=3.02bins val_joint_top1=0.239 val_grip_acc=0.392 val_rot_err=7.38bins Epoch 32: val_v=4.0939 val_pix=18.1px val_z_err=3.15bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.28bins Epoch 33: val_v=4.3613 val_pix=18.9px val_z_err=3.01bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=7.53bins Epoch 34: val_v=4.0885 val_pix=19.0px val_z_err=3.28bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=7.55bins Epoch 35: val_v=4.0874 val_pix=17.9px val_z_err=2.89bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=7.47bins Epoch 36: val_v=4.3553 val_pix=19.5px val_z_err=3.10bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.72bins Epoch 37: val_v=4.1935 val_pix=18.8px val_z_err=3.28bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=7.75bins Epoch 38: val_v=4.1661 val_pix=18.0px val_z_err=2.68bins val_joint_top1=0.290 val_grip_acc=0.392 val_rot_err=7.31bins Epoch 39: val_v=4.2376 val_pix=20.4px val_z_err=3.33bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.69bins Epoch 40: val_v=4.3029 val_pix=20.8px val_z_err=3.48bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.65bins Epoch 41: val_v=4.3694 val_pix=18.5px val_z_err=3.36bins val_joint_top1=0.227 val_grip_acc=0.392 val_rot_err=7.44bins Epoch 42: val_v=4.3358 val_pix=19.5px val_z_err=3.66bins val_joint_top1=0.091 val_grip_acc=0.392 val_rot_err=7.74bins Epoch 43: val_v=4.0269 val_pix=17.6px val_z_err=3.28bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=7.87bins Epoch 44: val_v=4.6003 val_pix=19.5px val_z_err=3.25bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=8.01bins Epoch 45: val_v=4.3467 val_pix=18.6px val_z_err=2.73bins val_joint_top1=0.290 val_grip_acc=0.392 val_rot_err=8.12bins Epoch 46: val_v=4.2522 val_pix=18.7px val_z_err=3.48bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=8.14bins Epoch 47: val_v=4.4469 val_pix=18.2px val_z_err=3.53bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=7.98bins Epoch 48: val_v=4.2771 val_pix=18.5px val_z_err=3.35bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.17bins Epoch 49: val_v=4.4260 val_pix=18.2px val_z_err=3.13bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.11bins Epoch 50: val_v=4.4194 val_pix=20.7px val_z_err=3.38bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.14bins Epoch 51: val_v=4.3600 val_pix=18.2px val_z_err=2.89bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=8.08bins Epoch 52: val_v=4.3295 val_pix=18.9px val_z_err=3.17bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=8.10bins Epoch 53: val_v=4.5403 val_pix=18.8px val_z_err=3.09bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=8.08bins Epoch 54: val_v=4.1474 val_pix=17.8px val_z_err=3.23bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.12bins Epoch 55: val_v=4.4121 val_pix=21.2px val_z_err=3.60bins val_joint_top1=0.057 val_grip_acc=0.392 val_rot_err=8.09bins Epoch 56: val_v=4.1389 val_pix=17.2px val_z_err=3.44bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=8.03bins Epoch 57: val_v=4.3619 val_pix=17.4px val_z_err=3.50bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=7.89bins Epoch 58: val_v=4.1263 val_pix=17.5px val_z_err=3.23bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=7.97bins Epoch 59: val_v=4.3987 val_pix=19.6px val_z_err=3.66bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.96bins Epoch 60: val_v=4.1482 val_pix=20.7px val_z_err=3.70bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=7.99bins Epoch 61: val_v=4.4733 val_pix=19.6px val_z_err=2.94bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=7.95bins Epoch 62: val_v=4.1554 val_pix=22.4px val_z_err=3.51bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=7.94bins Epoch 63: val_v=4.4484 val_pix=20.1px val_z_err=3.48bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.94bins Epoch 64: val_v=4.2143 val_pix=19.5px val_z_err=3.19bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=7.59bins Epoch 65: val_v=4.4759 val_pix=17.7px val_z_err=2.95bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=6.66bins Epoch 66: val_v=4.0377 val_pix=21.8px val_z_err=3.81bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=7.50bins Epoch 67: val_v=4.1974 val_pix=18.6px val_z_err=2.81bins val_joint_top1=0.301 val_grip_acc=0.392 val_rot_err=6.64bins Epoch 68: val_v=4.1181 val_pix=18.5px val_z_err=2.64bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=7.44bins Epoch 69: val_v=4.1785 val_pix=21.0px val_z_err=2.99bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.31bins Epoch 70: val_v=4.1140 val_pix=25.0px val_z_err=3.98bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.27bins Epoch 71: val_v=4.3212 val_pix=22.0px val_z_err=3.70bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=7.20bins Epoch 72: val_v=4.0723 val_pix=24.0px val_z_err=4.05bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=6.33bins Epoch 73: val_v=4.1225 val_pix=24.7px val_z_err=4.24bins val_joint_top1=0.244 val_grip_acc=0.392 val_rot_err=6.24bins Epoch 74: val_v=4.0277 val_pix=24.7px val_z_err=3.76bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=6.48bins Epoch 75: val_v=4.0374 val_pix=23.1px val_z_err=3.93bins val_joint_top1=0.244 val_grip_acc=0.392 val_rot_err=6.58bins Epoch 76: val_v=3.9863 val_pix=22.8px val_z_err=3.61bins val_joint_top1=0.233 val_grip_acc=0.392 val_rot_err=6.47bins Epoch 77: val_v=3.9376 val_pix=26.0px val_z_err=4.27bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.32bins Epoch 78: val_v=3.9831 val_pix=22.7px val_z_err=3.55bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.05bins Epoch 79: val_v=3.9063 val_pix=23.5px val_z_err=3.93bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=8.10bins Epoch 80: val_v=3.8871 val_pix=23.9px val_z_err=4.11bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=8.38bins Epoch 81: val_v=3.9883 val_pix=25.6px val_z_err=4.25bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=8.36bins Epoch 82: val_v=4.0264 val_pix=24.9px val_z_err=4.28bins val_joint_top1=0.131 val_grip_acc=0.392 val_rot_err=8.33bins Epoch 83: val_v=3.8195 val_pix=23.9px val_z_err=4.15bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=8.42bins Epoch 84: val_v=3.9804 val_pix=23.9px val_z_err=4.15bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=8.08bins Epoch 85: val_v=3.8448 val_pix=22.7px val_z_err=3.88bins val_joint_top1=0.256 val_grip_acc=0.392 val_rot_err=7.65bins Epoch 86: val_v=3.9579 val_pix=24.2px val_z_err=4.04bins val_joint_top1=0.307 val_grip_acc=0.392 val_rot_err=7.30bins Epoch 87: val_v=3.8826 val_pix=22.8px val_z_err=4.05bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=7.38bins Epoch 88: val_v=4.0580 val_pix=23.4px val_z_err=4.37bins val_joint_top1=0.165 val_grip_acc=0.392 val_rot_err=6.23bins Epoch 89: val_v=4.0402 val_pix=24.5px val_z_err=4.14bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=5.75bins Epoch 90: val_v=3.9226 val_pix=22.6px val_z_err=3.91bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=5.75bins Epoch 91: val_v=4.0415 val_pix=22.8px val_z_err=3.96bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=5.65bins Epoch 92: val_v=3.9229 val_pix=18.7px val_z_err=3.02bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=4.77bins Epoch 93: val_v=4.0607 val_pix=19.8px val_z_err=3.44bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=5.63bins Epoch 94: val_v=3.8580 val_pix=19.7px val_z_err=3.70bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=5.61bins Epoch 95: val_v=4.0178 val_pix=24.6px val_z_err=4.15bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=5.57bins Epoch 96: val_v=4.0633 val_pix=24.9px val_z_err=4.45bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=4.45bins Epoch 97: val_v=4.0751 val_pix=22.0px val_z_err=3.86bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=4.48bins Epoch 98: val_v=4.0245 val_pix=23.2px val_z_err=3.91bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=4.23bins Epoch 99: val_v=3.9855 val_pix=19.8px val_z_err=3.60bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=3.99bins