# PLAN

## Goal
Train a 50k-step IMF baseline with the original ResNet vision backbone using r_vis + top as the only image conditioning.

## Fixed comparison contract
- same hyperparameters as the active top/front run
- cameras: ['r_vis', 'top']
- num_cams=2
- head.cond_dim=144
- host: 100.119.99.14
- gpu: 2