feat: add vision transfer backbones and IMF variants

experiment_suites/2026-04-05-lewm-vit-transfer/manifest.json

@@ -0,0 +1,73 @@
+{
+  "date": "2026-04-06",
+  "branch": "feat-imf-attnres-policy",
+  "worktree": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy",
+  "model": "LEWM ViT frozen visual encoder + IMF AttnRes diffusion head",
+  "checkpoint_path": "/home/droid/le-wm/lewm-sim-transfer/pa1w85md8jop6bvol8oxp/checkpoints/epoch=99-step=47800.ckpt",
+  "visual_contract": {
+    "input_camera_names": ["r_vis", "top", "front"],
+    "fused_camera_names": ["front", "top", "r_vis"],
+    "joint_output_dim": 192,
+    "freeze_backbone": true,
+    "dataset_image_resize_shape": null,
+    "eval_image_resize_shape": [256, 256],
+    "fused_short_side_resize": 224
+  },
+  "training_contract": {
+    "pred_horizon": 16,
+    "num_action_steps": 8,
+    "max_steps": 50000,
+    "rollout_val_freq_epochs": 5,
+    "rollout_num_episodes": 10,
+    "batch_size": 80,
+    "lr": 0.00025,
+    "num_workers": 12,
+    "scheduler_type": "cosine",
+    "warmup_steps": 2000,
+    "min_lr": 1e-06,
+    "weight_decay": 1e-05,
+    "grad_clip": 1.0
+  },
+  "verification": {
+    "local_tests": "38 passed",
+    "remote_dataset_shape": [2, 3, 256, 256],
+    "remote_eval_prepared_shape": [3, 256, 256],
+    "remote_smoke_run": {
+      "run_name": "smoke-lewm-imf-rawpath-emb384-20260406-002002",
+      "result": "passed",
+      "details": "2-step train + checkpoint-triggered 1-episode headless rollout succeeded with corrected raw256 path"
+    }
+  },
+  "superseded_runs": [
+    {
+      "run_name": "lewm-vit-imf-sim-transfer-emb384-l12-ph16-ex08-step50k-roll10-5880g0-20260405-201914",
+      "reason": "stopped due to incorrect early per-camera 224 resize"
+    },
+    {
+      "run_name": "lewm-vit-imf-sim-transfer-emb256-l12-ph16-ex08-step50k-roll10-5880g1-20260405-201914",
+      "reason": "stopped due to incorrect early per-camera 224 resize"
+    }
+  ],
+  "full_runs": [
+    {
+      "host": "100.73.14.65",
+      "gpu": 0,
+      "run_name": "lewm-vit-imf-raw256fix-sim-transfer-emb384-l12-ph16-ex08-step50k-roll10-5880g0-20260406-002124",
+      "pid": 1058589,
+      "log_path": "/home/droid/roboimi_suite_20260404/experiment_suite_launch_logs/lewm-vit-imf-raw256fix-sim-transfer-emb384-l12-ph16-ex08-step50k-roll10-5880g0-20260406-002124.launch.log",
+      "swanlab_url": "https://swanlab.cn/@game-loader/roboimi-vla/runs/y5tzgqe0u966w9ak41i31",
+      "head_n_emb": 384,
+      "head_n_layer": 12
+    },
+    {
+      "host": "100.73.14.65",
+      "gpu": 1,
+      "run_name": "lewm-vit-imf-raw256fix-sim-transfer-emb256-l12-ph16-ex08-step50k-roll10-5880g1-20260406-002124",
+      "pid": 1058590,
+      "log_path": "/home/droid/roboimi_suite_20260404/experiment_suite_launch_logs/lewm-vit-imf-raw256fix-sim-transfer-emb256-l12-ph16-ex08-step50k-roll10-5880g1-20260406-002124.launch.log",
+      "swanlab_url": "https://swanlab.cn/@game-loader/roboimi-vla/runs/2esr9y7t2dgesstgrn5i6",
+      "head_n_emb": 256,
+      "head_n_layer": 12
+    }
+  ]
+}