docs: finalize phase1 report and launch phase2 attnres suite

experiment_suites/2026-04-04-imf-horizon-grid/final_report.md

@@ -0,0 +1,63 @@
+# Phase-1 Final Report and Phase-2 Handoff
+
+- Finalized: 2026-04-05 00:34:20 CST
+- Scope: IMF AttnRes policy horizon/action-step grid on `sim_transfer`
+- Fixed setup: `n_emb=384`, `n_layer=12`, batch size `80`, learning rate `2.5e-4`, `max_steps=50k`, rollout every 5 epochs with 5 episodes, 3 cameras `[r_vis, top, front]`.
+- Main metric: `checkpoints/vla_model_best.pt` 中记录的训练期最大 `rollout_avg_reward`。
+
+## Final leaderboard
+
+| Rank | Run ID | pred_horizon | executed action steps | Best avg_reward | Best step | Final loss |
+|---:|---|---:|---:|---:|---:|---:|
+| 1 | `ph16_ex8` | 16 | 8 | **610.8** | 21874 | 0.0034 |
+| 2 | `ph16_ex16` | 16 | 16 | 561.2 | 48124 | 0.0045 |
+| 3 | `ph32_ex32` | 32 | 32 | 513.2 | 43749 | 0.0040 |
+| 4 | `ph8_ex8` | 8 | 8 | 415.6 | 48124 | 0.0070 |
+| 5 | `ph32_ex8` | 32 | 8 | 361.6 | 43749 | 0.0048 |
+| 6 | `ph32_ex16` | 32 | 16 | 239.6 | 48124 | 0.0038 |
+
+## Final conclusions
+
+1. **最佳组合是 `pred_horizon=16` + `num_action_steps=8`**，最佳平均奖励为 **610.8**，出现在 **step 21874**。
+2. 在 `pred_horizon=16` 下，执行 8 步优于执行 16 步，优势约 **+8.8%**（610.8 vs 561.2）。
+3. `pred_horizon=32` 时，对执行步长非常敏感：`32/32` 明显优于 `32/8` 和 `32/16`；特别是 `32/16` 退化最明显。
+4. 更长的预测窗口并不会自动带来更高 reward；**预测窗口与实际执行窗口的匹配关系** 是关键。
+5. 最佳 checkpoint 并不在训练结束时出现，而是在 50k 训练中较早的 **21.9k step** 出现，说明 rollout 验证比仅看 train loss 更重要。
+6. 因而 Phase-2 的比较基线固定为 **`ph16_ex8`**。
+
+## Recommended baseline for follow-up experiments
+
+- Baseline run: `ph16_ex8`
+- Baseline best checkpoint: `step 21874`
+- Baseline best avg_reward: `610.8`
+- Baseline run dir: `/home/droid/roboimi_suite_20260404/runs/imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223`
+
+## Phase-2 target: full-AttnRes vision backbone
+
+本阶段按你的要求，不再只是 IMF head 中使用 AttnRes，而是把**之前视觉 ResNet 主干中的残差单元全部替换为 AttnRes 残差单元**。当前实现保留了 ResNet 风格的 stage / downsample 宏观结构，但视觉残差 trunk 已切换到 AttnRes：
+
+- implementation: `roboimi/vla/models/backbones/attnres_resnet2d.py`
+- wiring: `roboimi/vla/models/backbones/resnet_diffusion.py`
+- config: `roboimi/vla/conf/backbone/resnet_diffusion.yaml`
+
+相关代码已提交：
+
+- `a780068` — headless rollout 修复 + Phase-1 汇总
+- `2033169` — full-AttnRes vision backbone
+
+## Phase-2 launch status (observed on 2026-04-05 00:36 CST)
+
+- Run: `imf-p2-full-attnres-vision-ph16-ex08-emb384-l12-b40-lr1p25e4-ms50k-l20g3-20260405-002424`
+- Host: `100.119.99.14`, GPU `3`
+- Config anchor: `pred_horizon=16`, `num_action_steps=8`
+- Vision backbone: `attnres_resnet`
+- Because batch size `80` OOMed on both local 5090 and remote L20, Phase-2 currently uses:
+  - batch size: `40`
+  - learning rate: `1.25e-4`
+- Latest confirmed progress: **step 1300**
+- First rollout has **not happened yet** at this observation point.
+- SwanLab: https://swanlab.cn/@game-loader/roboimi-vla/runs/xy7fjdmn0stdr19eu3gub
+
+## Next action
+
+继续监控 Phase-2 full-AttnRes 训练，待其完成后直接与 Phase-1 baseline `610.8` 做对比，判断“视觉主干全部替换为 AttnRes”是否优于“仅 IMF 中使用 AttnRes”。

experiment_suites/2026-04-04-imf-horizon-grid/status.json

@@ -1,6 +1,6 @@
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@@ -17,7 +17,7 @@
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+      "latest_log_sync": "2026-04-05 00:34:20",
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       "swanlab_url": "https://swanlab.cn/@game-loader/roboimi-vla/runs/o5y2xjb2rsb3lmfcuhy4p",
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       "best_rollout_avg_reward": 361.6,
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@@ -145,10 +145,12 @@
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experiment_suites/2026-04-05-full-attnres-vision-phase2/manifest.json

@@ -0,0 +1,20 @@
+{
+  "suite_name": "2026-04-05-full-attnres-vision-phase2",
+  "created_at": "2026-04-05 00:12:14",
+  "phase": "phase2_running",
+  "baseline_reference": {
+    "run_id": "ph16_ex8",
+    "best_rollout_avg_reward": 610.8,
+    "best_step": 21874,
+    "run_dir": "/home/droid/roboimi_suite_20260404/runs/imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223"
+  },
+  "candidate": {
+    "run_name": "imf-p2-full-attnres-vision-ph16-ex08-emb384-l12-ms50k-20260405-001214",
+    "host": "local",
+    "gpu": 0,
+    "pred_horizon": 16,
+    "num_action_steps": 8,
+    "vision_backbone_mode": "attnres_resnet",
+    "notes": "Full-AttnRes vision backbone replacing ResNet residual units; IMF head unchanged."
+  }
+}

experiment_suites/2026-04-05-full-attnres-vision-phase2/notes.md

@@ -0,0 +1,9 @@
+# Full-AttnRes Vision Phase-2
+
+- Created: 2026-04-05 00:12:14
+- Baseline reference: ph16_ex8 best avg_reward=610.8
+- Candidate run: imf-p2-full-attnres-vision-ph16-ex08-emb384-l12-ms50k-20260405-001214
+- 2026-04-05 00:23:03: batch=80 OOM on both 5090 and L20; using validated fallback batch=40, lr=1.25e-4 on remote L20 GPU3.
+- 2026-04-05 00:24:24: launching candidate imf-p2-full-attnres-vision-ph16-ex08-emb384-l12-b40-lr1p25e4-ms50k-l20g3-20260405-002424 on 100.119.99.14 GPU3 with batch=40 lr=1.25e-4.
+- 2026-04-05 00:27:17: remote phase2 run is active on 100.119.99.14 GPU3, validated at least to step 200. SwanLab: https://swanlab.cn/@game-loader/roboimi-vla/runs/xy7fjdmn0stdr19eu3gub
+- 2026-04-05 00:36:54: latest confirmed progress is step 1300 on 100.119.99.14 GPU3; first rollout not reached yet.

experiment_suites/2026-04-05-full-attnres-vision-phase2/status.json

@@ -0,0 +1,32 @@
+{
+  "suite_name": "2026-04-05-full-attnres-vision-phase2",
+  "updated_at": "2026-04-05 00:36:54",
+  "phase": "phase2_running",
+  "baseline_reference": {
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+    "best_rollout_avg_reward": 610.8,
+    "best_step": 21874,
+    "run_dir": "/home/droid/roboimi_suite_20260404/runs/imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223"
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+    "vision_backbone_mode": "attnres_resnet",
+    "notes": "Full-AttnRes vision backbone replacing ResNet residual units; IMF head unchanged.",
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+    "note": "Local 5090 and remote L20 both OOM at batch=80; switched to batch=40 and linearly scaled lr to 1.25e-4 after smoke validation on L20.",
+    "swanlab_url": "https://swanlab.cn/@game-loader/roboimi-vla/runs/xy7fjdmn0stdr19eu3gub",
+    "latest_step": 1300,
+    "latest_log_sync": "2026-04-05 00:36:54"
+  }
+}