feat: add vision transfer backbones and IMF variants

experiment_suites/2026-04-05-front-only-resnet-1cam/PLAN.md

@@ -0,0 +1,28 @@
+# PLAN
+
+## Goal
+Train a 50k-step IMF baseline with the original ResNet vision backbone, using only the `front` camera as image conditioning.
+
+## Fixed comparison contract
+- Same as the active `top/front` run except image input is reduced to `[front]`
+- Agent: `resnet_imf_attnres`
+- Vision backbone mode: `resnet`
+- `pred_horizon=16`, `num_action_steps=8`
+- `n_emb=384`, `n_layer=12`, `n_head=1`, `n_kv_head=1`
+- `inference_steps=1`
+- `batch_size=80`, `lr=2.5e-4`, cosine, warmup=2000
+- dataset: `/home/droid/sim_dataset/sim_transfer`
+- cameras: `[front]` only
+- rollout every 5 epochs with 5 episodes, headless
+
+## Resource plan
+- Host: `100.119.99.14`
+- GPU: `0`
+
+## Important dimension override
+- Single-camera visual cond dim = `64 + 16 = 80`, so override `agent.head.cond_dim=80` and `agent.num_cams=1`.
+
+## Execution path
+1. 2-step smoke test on remote GPU0.
+2. If smoke passes, launch 50k main run with SwanLab.
+3. Record pid / run_dir / log / URL locally.