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fix: stabilize headless rollout and summarize phase1 grid

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Logic
2026-04-04 23:47:15 +08:00
parent 0586a6e6c7
commit a78006808a
8 changed files with 446 additions and 1 deletions
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experiment_suites/2026-04-04-imf-horizon-grid/manifest.json Normal file
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{
"suite_name": "2026-04-04-imf-horizon-grid",
"created_at": "2026-04-04 13:19:52",
"updated_at": "2026-04-04 13:19:52",
"phase": "phase1_launching",
"metric": "max_avg_reward",
"baseline": {
"agent": "resnet_imf_attnres",
"batch_size": 80,
"lr": 0.00025,
"num_workers": 12,
"max_steps": 50000,
"rollout_val_freq_epochs": 5,
"rollout_num_episodes": 5,
"val_split": 0.0,
"seed": 42,
"scheduler_type": "cosine",
"warmup_steps": 2000,
"min_lr": 1e-06,
"weight_decay": 1e-05,
"grad_clip": 1.0,
"inference_steps": 1,
"embed_dim": 384,
"n_layer": 12,
"n_head": 1,
"n_kv_head": 1,
"freeze_backbone": false,
"pretrained_backbone_weights": null,
"camera_names": [
"r_vis",
"top",
"front"
]
},
"runs": [
{
"id": "ph8_ex8",
"pred_horizon": 8,
"num_action_steps": 8,
"host": "100.73.14.65",
"host_label": "tailnet-5880",
"gpu": 0,
"workdir": "/home/droid/roboimi_suite_20260404",
"python": "/home/droid/miniforge3/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/sim_dataset/sim_transfer",
"run_name": "imf-p1-ph08-ex08-emb384-l12-ms50k-5880g0-20260404-131223",
"launch_state": "ready"
},
{
"id": "ph16_ex8",
"pred_horizon": 16,
"num_action_steps": 8,
"host": "100.73.14.65",
"host_label": "tailnet-5880",
"gpu": 1,
"workdir": "/home/droid/roboimi_suite_20260404",
"python": "/home/droid/miniforge3/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/sim_dataset/sim_transfer",
"run_name": "imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223",
"launch_state": "ready"
},
{
"id": "ph16_ex16",
"pred_horizon": 16,
"num_action_steps": 16,
"host": "100.119.99.14",
"host_label": "tailnet-l20",
"gpu": 0,
"workdir": "/home/droid/roboimi_suite_20260404",
"python": "/home/droid/miniforge3/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/sim_dataset/sim_transfer",
"run_name": "imf-p1-ph16-ex16-emb384-l12-ms50k-l20g0-20260404-131223",
"launch_state": "provisioning_required"
},
{
"id": "ph32_ex8",
"pred_horizon": 32,
"num_action_steps": 8,
"host": "100.119.99.14",
"host_label": "tailnet-l20",
"gpu": 1,
"workdir": "/home/droid/roboimi_suite_20260404",
"python": "/home/droid/miniforge3/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/sim_dataset/sim_transfer",
"run_name": "imf-p1-ph32-ex08-emb384-l12-ms50k-l20g1-20260404-131223",
"launch_state": "provisioning_required"
},
{
"id": "ph32_ex16",
"pred_horizon": 32,
"num_action_steps": 16,
"host": "100.119.99.14",
"host_label": "tailnet-l20",
"gpu": 2,
"workdir": "/home/droid/roboimi_suite_20260404",
"python": "/home/droid/miniforge3/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/sim_dataset/sim_transfer",
"run_name": "imf-p1-ph32-ex16-emb384-l12-ms50k-l20g2-20260404-131223",
"launch_state": "provisioning_required"
},
{
"id": "ph32_ex32",
"pred_horizon": 32,
"num_action_steps": 32,
"host": "local",
"host_label": "local-5090",
"gpu": 0,
"workdir": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy",
"python": "/home/droid/.conda/envs/roboimi/bin/python",
"dataset_dir": "/home/droid/project/diana_sim/sim_transfer",
"run_name": "imf-p1-ph32-ex32-emb384-l12-ms50k-5090-20260404-131223",
"launch_state": "ready"
}
]
}