feat: add vision transfer backbones and IMF variants

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

@@ -0,0 +1,23 @@
+# 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`