feat: add vision transfer backbones and IMF variants

experiment_suites/2026-04-05-front-rvis-resnet-2cam/CHECKLIST.md

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+# CHECKLIST
+
+- [x] Confirm camera mapping (`right` -> `r_vis`)
+- [x] Create front+r_vis run contract
+- [x] Remote smoke test passes
+- [x] Launch 50k run on remote GPU1
+- [x] Record pid / log / SwanLab
+- [x] Report status back to user

experiment_suites/2026-04-05-front-rvis-resnet-2cam/PLAN.md

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+# PLAN
+
+## Goal
+Train a 50k-step IMF baseline with the original ResNet vision backbone, using `front` + `r_vis` cameras only.
+
+## Fixed comparison contract
+- Same hyperparameters as the active top/front and front-only runs
+- 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: `[r_vis, front]`
+- rollout every 5 epochs with 5 episodes, headless
+
+## Important dimension override
+- Two-camera visual cond dim = `64*2 + 16 = 144`, so set `agent.num_cams=2`, `agent.head.cond_dim=144`.
+
+## Resource plan
+- Host: `100.119.99.14`
+- GPU: `1`

experiment_suites/2026-04-05-front-rvis-resnet-2cam/notes.md

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+# Notes
+
+- 2026-04-05 10:20:09: remote 2-step smoke passed on `100.119.99.14` GPU1 with `r_vis + front`, batch=80, no OOM.
+- 2026-04-05 10:20:49: launched main run `imf-resnet-frontrvis-2cam-ph16-ex08-emb384-l12-ms50k-l20g1-20260405-102029`.
+- 2026-04-05 10:22:03: confirmed training is stable through step 200, latest loss 0.3321.
+- SwanLab: https://swanlab.cn/@game-loader/roboimi-vla/runs/3fyzjfdcbiq7frtbqv6ss

experiment_suites/2026-04-05-front-rvis-resnet-2cam/status.json

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+{
+  "suite_name": "2026-04-05-front-rvis-resnet-2cam",
+  "updated_at": "2026-04-05 10:22:03",
+  "phase": "running",
+  "interpretation": {
+    "right_camera_name": "r_vis"
+  },
+  "baseline_reference": {
+    "source_run": "imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023",
+    "notes": "Same hyperparameters as the active top/front run, replacing top with r_vis."
+  },
+  "smoke_test": {
+    "status": "passed",
+    "host": "100.119.99.14",
+    "gpu": 1,
+    "run_dir": "/home/droid/roboimi_suite_20260404/runs/smoke-frontrvis-resnet-ph16-ex08-20260405-102001",
+    "batch_size": 80,
+    "max_steps": 2,
+    "note": "2-step remote CUDA smoke passed on L20 GPU1 without OOM."
+  },
+  "main_run": {
+    "status": "running",
+    "host": "100.119.99.14",
+    "gpu": 1,
+    "launch_pid": 159910,
+    "pid": 159913,
+    "run_name": "imf-resnet-frontrvis-2cam-ph16-ex08-emb384-l12-ms50k-l20g1-20260405-102029",
+    "run_dir": "/home/droid/roboimi_suite_20260404/runs/imf-resnet-frontrvis-2cam-ph16-ex08-emb384-l12-ms50k-l20g1-20260405-102029",
+    "log_path": "/home/droid/roboimi_suite_20260404/runs/imf-resnet-frontrvis-2cam-ph16-ex08-emb384-l12-ms50k-l20g1-20260405-102029/train_vla.log",
+    "launch_log": "/home/droid/roboimi_suite_20260404/experiment_suite_launch_logs/imf-resnet-frontrvis-2cam-ph16-ex08-emb384-l12-ms50k-l20g1-20260405-102029.launch.log",
+    "dataset_dir": "/home/droid/sim_dataset/sim_transfer",
+    "camera_names": [
+      "r_vis",
+      "front"
+    ],
+    "pred_horizon": 16,
+    "num_action_steps": 8,
+    "head_cond_dim": 144,
+    "head_n_emb": 384,
+    "head_n_layer": 12,
+    "vision_backbone_mode": "resnet",
+    "pretrained_backbone_weights": null,
+    "freeze_backbone": false,
+    "batch_size": 80,
+    "lr": 0.00025,
+    "num_workers": 12,
+    "max_steps": 50000,
+    "rollout_val_freq_epochs": 5,
+    "rollout_num_episodes": 5,
+    "swanlab_url": "https://swanlab.cn/@game-loader/roboimi-vla/runs/3fyzjfdcbiq7frtbqv6ss",
+    "latest_step": 200,
+    "latest_loss": 0.3321,
+    "process_running": true
+  }
+}