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 /data2/cameron/miniconda3/envs/uva/lib/python3.10/site-packages/torch/nn/modules/transformer.py:282: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") Trainable: 30,141,585 Resuming from /data/cameron/para/libero/checkpoints/da3_dino_kv_sin_sin_full/latest.pth loaded ckpt epoch=29; missing=36 (expect grip/rot heads), unexpected=12 Epoch 0: val_v=9.4909 val_pix=30.9px val_z_err=4.39bins val_joint_top1=0.023 val_grip_acc=0.023 val_rot_err=12.52bins Epoch 1: val_v=8.1577 val_pix=33.5px val_z_err=5.61bins val_joint_top1=0.034 val_grip_acc=0.023 val_rot_err=12.39bins Epoch 2: val_v=6.2951 val_pix=23.8px val_z_err=5.08bins val_joint_top1=0.023 val_grip_acc=0.034 val_rot_err=12.27bins Epoch 3: val_v=5.4203 val_pix=21.7px val_z_err=4.38bins val_joint_top1=0.023 val_grip_acc=0.045 val_rot_err=12.06bins Epoch 4: val_v=4.8757 val_pix=23.2px val_z_err=3.38bins val_joint_top1=0.159 val_grip_acc=0.045 val_rot_err=12.10bins Epoch 5: val_v=4.6407 val_pix=21.0px val_z_err=2.98bins val_joint_top1=0.148 val_grip_acc=0.057 val_rot_err=12.11bins Epoch 6: val_v=4.2427 val_pix=18.8px val_z_err=2.58bins val_joint_top1=0.256 val_grip_acc=0.057 val_rot_err=11.57bins Epoch 7: val_v=4.1586 val_pix=19.5px val_z_err=2.64bins val_joint_top1=0.267 val_grip_acc=0.080 val_rot_err=11.50bins Epoch 8: val_v=4.2573 val_pix=18.9px val_z_err=2.64bins val_joint_top1=0.205 val_grip_acc=0.165 val_rot_err=10.89bins Epoch 9: val_v=4.0109 val_pix=18.7px val_z_err=2.52bins val_joint_top1=0.205 val_grip_acc=0.176 val_rot_err=10.38bins Epoch 10: val_v=4.0938 val_pix=17.8px val_z_err=2.77bins val_joint_top1=0.142 val_grip_acc=0.199 val_rot_err=10.23bins Epoch 11: val_v=4.0855 val_pix=19.3px val_z_err=3.48bins val_joint_top1=0.205 val_grip_acc=0.199 val_rot_err=10.03bins Epoch 12: val_v=4.0859 val_pix=17.0px val_z_err=2.42bins val_joint_top1=0.193 val_grip_acc=0.256 val_rot_err=10.00bins Epoch 13: val_v=4.2922 val_pix=17.8px val_z_err=2.44bins val_joint_top1=0.142 val_grip_acc=0.318 val_rot_err=9.34bins Epoch 14: val_v=3.8678 val_pix=17.6px val_z_err=2.45bins val_joint_top1=0.153 val_grip_acc=0.381 val_rot_err=9.37bins Epoch 15: val_v=4.0521 val_pix=18.0px val_z_err=2.12bins val_joint_top1=0.205 val_grip_acc=0.392 val_rot_err=9.07bins Epoch 16: val_v=3.9478 val_pix=19.1px val_z_err=3.18bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=8.97bins Epoch 17: val_v=4.0142 val_pix=18.2px val_z_err=2.12bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=8.28bins Epoch 18: val_v=3.9180 val_pix=16.7px val_z_err=2.57bins val_joint_top1=0.153 val_grip_acc=0.381 val_rot_err=8.28bins Epoch 19: val_v=3.9077 val_pix=17.9px val_z_err=2.67bins val_joint_top1=0.278 val_grip_acc=0.381 val_rot_err=7.74bins Epoch 20: val_v=4.2407 val_pix=19.1px val_z_err=2.74bins val_joint_top1=0.142 val_grip_acc=0.381 val_rot_err=7.52bins Epoch 21: val_v=3.9789 val_pix=18.1px val_z_err=2.75bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=7.41bins Epoch 22: val_v=4.0427 val_pix=19.4px val_z_err=2.75bins val_joint_top1=0.267 val_grip_acc=0.392 val_rot_err=6.98bins Epoch 23: val_v=4.1803 val_pix=19.3px val_z_err=2.86bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=6.99bins Epoch 24: val_v=4.1641 val_pix=20.4px val_z_err=2.84bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=6.85bins Epoch 25: val_v=4.0162 val_pix=18.3px val_z_err=2.99bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=6.69bins Epoch 26: val_v=4.1883 val_pix=18.0px val_z_err=2.53bins val_joint_top1=0.153 val_grip_acc=0.392 val_rot_err=6.54bins Epoch 27: val_v=4.6300 val_pix=18.1px val_z_err=3.07bins val_joint_top1=0.091 val_grip_acc=0.392 val_rot_err=6.23bins Epoch 28: val_v=4.1045 val_pix=19.2px val_z_err=2.78bins val_joint_top1=0.278 val_grip_acc=0.392 val_rot_err=6.08bins Epoch 29: val_v=3.9966 val_pix=18.5px val_z_err=2.66bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=6.01bins Epoch 30: val_v=4.2841 val_pix=17.3px val_z_err=3.01bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=5.90bins Epoch 31: val_v=4.2827 val_pix=17.4px val_z_err=2.53bins val_joint_top1=0.193 val_grip_acc=0.392 val_rot_err=5.79bins Epoch 32: val_v=4.3022 val_pix=18.0px val_z_err=3.12bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=5.79bins Epoch 33: val_v=4.3154 val_pix=18.7px val_z_err=2.80bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=5.71bins Epoch 34: val_v=4.3774 val_pix=21.0px val_z_err=3.35bins val_joint_top1=0.080 val_grip_acc=0.392 val_rot_err=5.68bins Epoch 35: val_v=4.1925 val_pix=19.7px val_z_err=2.97bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=5.74bins Epoch 36: val_v=4.3191 val_pix=21.2px val_z_err=3.21bins val_joint_top1=0.170 val_grip_acc=0.392 val_rot_err=5.60bins Epoch 37: val_v=4.1178 val_pix=21.5px val_z_err=2.95bins val_joint_top1=0.142 val_grip_acc=0.392 val_rot_err=5.53bins Epoch 38: val_v=4.3289 val_pix=22.0px val_z_err=3.11bins val_joint_top1=0.227 val_grip_acc=0.392 val_rot_err=5.45bins Epoch 39: val_v=4.4390 val_pix=20.5px val_z_err=3.07bins val_joint_top1=0.216 val_grip_acc=0.392 val_rot_err=5.27bins Epoch 40: val_v=4.2507 val_pix=22.1px val_z_err=3.56bins val_joint_top1=0.091 val_grip_acc=0.392 val_rot_err=5.14bins Epoch 41: val_v=4.3515 val_pix=20.8px val_z_err=2.92bins val_joint_top1=0.256 val_grip_acc=0.415 val_rot_err=4.79bins Epoch 42: val_v=4.4174 val_pix=19.8px val_z_err=3.04bins val_joint_top1=0.216 val_grip_acc=0.415 val_rot_err=4.72bins Epoch 43: val_v=4.1740 val_pix=22.6px val_z_err=3.14bins val_joint_top1=0.278 val_grip_acc=0.415 val_rot_err=4.71bins Epoch 44: val_v=4.2773 val_pix=18.4px val_z_err=2.51bins val_joint_top1=0.153 val_grip_acc=0.415 val_rot_err=4.62bins Epoch 45: val_v=4.5285 val_pix=18.8px val_z_err=2.90bins val_joint_top1=0.244 val_grip_acc=0.415 val_rot_err=4.59bins Epoch 46: val_v=4.1196 val_pix=20.2px val_z_err=3.14bins val_joint_top1=0.205 val_grip_acc=0.426 val_rot_err=4.55bins Epoch 47: val_v=4.5686 val_pix=20.5px val_z_err=3.07bins val_joint_top1=0.205 val_grip_acc=0.438 val_rot_err=4.54bins Epoch 48: val_v=4.0561 val_pix=20.5px val_z_err=3.15bins val_joint_top1=0.216 val_grip_acc=0.438 val_rot_err=4.48bins Epoch 49: val_v=4.4830 val_pix=18.4px val_z_err=3.20bins val_joint_top1=0.142 val_grip_acc=0.500 val_rot_err=4.02bins Epoch 50: val_v=4.2713 val_pix=18.3px val_z_err=3.11bins val_joint_top1=0.193 val_grip_acc=0.500 val_rot_err=4.03bins Epoch 51: val_v=4.1613 val_pix=17.8px val_z_err=3.12bins val_joint_top1=0.142 val_grip_acc=0.511 val_rot_err=3.97bins Epoch 52: val_v=4.1148 val_pix=19.2px val_z_err=2.82bins val_joint_top1=0.341 val_grip_acc=0.511 val_rot_err=4.03bins Epoch 53: val_v=4.2636 val_pix=21.3px val_z_err=3.29bins val_joint_top1=0.153 val_grip_acc=0.534 val_rot_err=3.98bins Epoch 54: val_v=4.0884 val_pix=20.1px val_z_err=2.70bins val_joint_top1=0.278 val_grip_acc=0.545 val_rot_err=3.56bins Epoch 55: val_v=4.2832 val_pix=18.2px val_z_err=2.68bins val_joint_top1=0.216 val_grip_acc=0.545 val_rot_err=3.52bins Epoch 56: val_v=4.4033 val_pix=18.6px val_z_err=3.04bins val_joint_top1=0.216 val_grip_acc=0.545 val_rot_err=3.46bins Epoch 57: val_v=4.3635 val_pix=22.7px val_z_err=3.62bins val_joint_top1=0.267 val_grip_acc=0.545 val_rot_err=3.39bins Epoch 58: val_v=4.0325 val_pix=17.1px val_z_err=3.32bins val_joint_top1=0.153 val_grip_acc=0.580 val_rot_err=3.22bins Epoch 59: val_v=4.2926 val_pix=21.0px val_z_err=3.56bins val_joint_top1=0.142 val_grip_acc=0.602 val_rot_err=2.96bins Epoch 60: val_v=4.2620 val_pix=23.3px val_z_err=3.49bins val_joint_top1=0.153 val_grip_acc=0.614 val_rot_err=2.96bins Epoch 61: val_v=4.1706 val_pix=20.4px val_z_err=3.61bins val_joint_top1=0.165 val_grip_acc=0.625 val_rot_err=2.95bins Epoch 62: val_v=4.3289 val_pix=20.6px val_z_err=3.03bins val_joint_top1=0.216 val_grip_acc=0.625 val_rot_err=2.90bins Epoch 63: val_v=4.2416 val_pix=23.4px val_z_err=3.30bins val_joint_top1=0.153 val_grip_acc=0.625 val_rot_err=2.89bins Epoch 64: val_v=4.1968 val_pix=19.8px val_z_err=3.22bins val_joint_top1=0.142 val_grip_acc=0.625 val_rot_err=2.88bins Epoch 65: val_v=4.4119 val_pix=20.3px val_z_err=3.02bins val_joint_top1=0.153 val_grip_acc=0.636 val_rot_err=2.88bins Epoch 66: val_v=4.1016 val_pix=21.8px val_z_err=3.02bins val_joint_top1=0.205 val_grip_acc=0.659 val_rot_err=2.86bins Epoch 67: val_v=4.1002 val_pix=19.2px val_z_err=2.99bins val_joint_top1=0.153 val_grip_acc=0.670 val_rot_err=2.87bins Epoch 68: val_v=4.3231 val_pix=20.0px val_z_err=2.84bins val_joint_top1=0.205 val_grip_acc=0.733 val_rot_err=2.85bins Epoch 69: val_v=4.3402 val_pix=20.4px val_z_err=3.13bins val_joint_top1=0.153 val_grip_acc=0.733 val_rot_err=2.85bins Epoch 70: val_v=4.6329 val_pix=18.9px val_z_err=3.03bins val_joint_top1=0.205 val_grip_acc=0.795 val_rot_err=2.83bins Epoch 71: val_v=4.3242 val_pix=22.0px val_z_err=2.88bins val_joint_top1=0.278 val_grip_acc=0.807 val_rot_err=2.66bins Epoch 72: val_v=4.4750 val_pix=22.9px val_z_err=3.26bins val_joint_top1=0.205 val_grip_acc=0.818 val_rot_err=2.45bins Epoch 73: val_v=4.2639 val_pix=21.8px val_z_err=3.64bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.44bins Epoch 74: val_v=4.3519 val_pix=21.7px val_z_err=3.85bins val_joint_top1=0.153 val_grip_acc=0.807 val_rot_err=2.33bins Epoch 75: val_v=4.7151 val_pix=21.1px val_z_err=3.12bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.37bins Epoch 76: val_v=4.5042 val_pix=19.4px val_z_err=3.67bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.15bins Epoch 77: val_v=4.4893 val_pix=19.7px val_z_err=2.99bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.15bins Epoch 78: val_v=4.6017 val_pix=20.0px val_z_err=3.15bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.13bins Epoch 79: val_v=4.5016 val_pix=21.7px val_z_err=3.62bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.13bins Epoch 80: val_v=4.5758 val_pix=18.3px val_z_err=2.88bins val_joint_top1=0.216 val_grip_acc=0.818 val_rot_err=2.10bins Epoch 81: val_v=4.6723 val_pix=19.3px val_z_err=3.53bins val_joint_top1=0.153 val_grip_acc=0.818 val_rot_err=2.09bins Epoch 82: val_v=4.4001 val_pix=24.4px val_z_err=3.77bins val_joint_top1=0.205 val_grip_acc=0.818 val_rot_err=1.98bins Epoch 83: val_v=4.5447 val_pix=19.7px val_z_err=3.09bins val_joint_top1=0.205 val_grip_acc=0.881 val_rot_err=1.93bins Epoch 84: val_v=4.3602 val_pix=22.9px val_z_err=3.01bins val_joint_top1=0.205 val_grip_acc=0.881 val_rot_err=1.93bins Epoch 85: val_v=4.4371 val_pix=23.5px val_z_err=3.67bins val_joint_top1=0.216 val_grip_acc=0.881 val_rot_err=1.93bins Epoch 86: val_v=4.6119 val_pix=23.6px val_z_err=3.81bins val_joint_top1=0.216 val_grip_acc=0.881 val_rot_err=1.93bins Epoch 87: val_v=4.5120 val_pix=22.1px val_z_err=3.60bins val_joint_top1=0.216 val_grip_acc=0.881 val_rot_err=1.88bins Epoch 88: val_v=4.5582 val_pix=22.2px val_z_err=3.72bins val_joint_top1=0.165 val_grip_acc=0.892 val_rot_err=1.74bins Epoch 89: val_v=4.4620 val_pix=20.5px val_z_err=3.37bins val_joint_top1=0.290 val_grip_acc=0.955 val_rot_err=1.72bins Epoch 90: val_v=4.6058 val_pix=19.8px val_z_err=3.53bins val_joint_top1=0.227 val_grip_acc=0.955 val_rot_err=1.69bins Epoch 91: val_v=4.5118 val_pix=18.4px val_z_err=3.03bins val_joint_top1=0.142 val_grip_acc=0.966 val_rot_err=1.66bins Epoch 92: val_v=4.2869 val_pix=19.9px val_z_err=3.32bins val_joint_top1=0.278 val_grip_acc=0.966 val_rot_err=1.61bins Epoch 93: val_v=4.5658 val_pix=20.5px val_z_err=4.06bins val_joint_top1=0.153 val_grip_acc=0.966 val_rot_err=1.63bins Epoch 94: val_v=4.5639 val_pix=20.2px val_z_err=3.48bins val_joint_top1=0.227 val_grip_acc=0.966 val_rot_err=1.50bins Epoch 95: val_v=4.5729 val_pix=20.0px val_z_err=3.50bins val_joint_top1=0.205 val_grip_acc=0.966 val_rot_err=1.50bins Epoch 96: val_v=4.4006 val_pix=22.1px val_z_err=3.57bins val_joint_top1=0.227 val_grip_acc=0.966 val_rot_err=1.51bins Epoch 97: val_v=4.4139 val_pix=22.7px val_z_err=3.41bins val_joint_top1=0.216 val_grip_acc=0.966 val_rot_err=1.51bins Epoch 98: val_v=4.6033 val_pix=19.1px val_z_err=2.96bins val_joint_top1=0.165 val_grip_acc=0.966 val_rot_err=1.51bins Epoch 99: val_v=4.4838 val_pix=22.5px val_z_err=3.44bins val_joint_top1=0.290 val_grip_acc=0.966 val_rot_err=1.51bins