# PLAN

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

## Fixed comparison contract
- same hyperparameters as the active top/front run
- cameras: ['r_vis']
- num_cams=1
- head.cond_dim=80
- host: 100.119.99.14
- gpu: 3