feat: add vision transfer backbones and IMF variants

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

@@ -0,0 +1,8 @@
+# CHECKLIST
+
+- [x] Confirm baseline hyperparameters from trusted prior run
+- [x] Confirm local GPU availability
+- [x] Smoke test with `top/front` cameras only
+- [x] Launch 50k run
+- [x] Record pid / run dir / log path / SwanLab URL
+- [x] Report status back to user

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

@@ -0,0 +1,30 @@
+# PLAN
+
+## Goal
+Train a 50k-step IMF baseline with the original ResNet vision backbone (no full-AttnRes vision replacement), using only `top` and `front` cameras as image conditioning.
+
+## Fixed comparison contract
+- 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 scheduler, warmup 2000
+- dataset: `/home/droid/project/diana_sim/sim_transfer`
+- cameras: `[top, front]` only
+- training budget: `max_steps=50000`
+- rollout validation: every 5 epochs, 5 episodes, headless
+
+## Resource plan
+- Host: local
+- GPU: RTX 5090 (GPU 0)
+
+## Execution path
+1. Run a short 2-step smoke test on GPU with the exact 2-camera config.
+2. If smoke passes, launch the 50k main run with durable log redirection.
+3. Record run name, pid, log path, and SwanLab URL into suite status.
+
+## Fallbacks
+- If batch 80 OOMs, fall back to batch 64 with scaled lr 2.0e-4.
+- If dataloader startup is unstable, reduce num_workers from 12 to 8.

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

@@ -0,0 +1,5 @@
+# Notes
+
+- 2026-04-05 08:50:04: 2-step smoke test passed locally on RTX 5090 with `top/front` cameras, batch=80, no OOM.
+- 2026-04-05 08:50:42: launched main run `imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023` on local GPU0.
+- SwanLab: https://swanlab.cn/@game-loader/roboimi-vla/runs/vi77mn5dwd19z4nttxab8

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

@@ -0,0 +1,51 @@
+{
+  "suite_name": "2026-04-05-top-front-resnet-2cam",
+  "updated_at": "2026-04-05 08:52:12",
+  "phase": "running",
+  "baseline_reference": {
+    "source_run": "imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223",
+    "best_rollout_avg_reward": 610.8,
+    "best_step": 21874,
+    "notes": "Same IMF baseline as Phase-1 best, but switch cameras from [r_vis, top, front] to [top, front] and keep the original ResNet vision backbone."
+  },
+  "smoke_test": {
+    "status": "passed",
+    "run_dir": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy/runs/smoke-topfront-resnet-ph16-ex08-20260405-085000",
+    "batch_size": 80,
+    "num_workers": 4,
+    "max_steps": 2,
+    "note": "2-step local CUDA smoke passed without OOM using top/front only."
+  },
+  "main_run": {
+    "status": "running",
+    "host": "local",
+    "gpu": 0,
+    "pid": 1693348,
+    "run_name": "imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023",
+    "run_dir": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy/runs/imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023",
+    "log_path": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy/runs/imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023/train_vla.log",
+    "launch_log": "/home/droid/project/roboimi/.worktrees/feat-imf-attnres-policy/experiment_suites/2026-04-05-top-front-resnet-2cam/launch_logs/imf-resnet-topfront-2cam-ph16-ex08-emb384-l12-ms50k-5090-20260405-085023.launch.log",
+    "dataset_dir": "/home/droid/project/diana_sim/sim_transfer",
+    "camera_names": [
+      "top",
+      "front"
+    ],
+    "pred_horizon": 16,
+    "num_action_steps": 8,
+    "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/vi77mn5dwd19z4nttxab8",
+    "latest_step": 500,
+    "latest_loss": 0.0978,
+    "process_running": true
+  }
+}