roboimi/experiment_suites/2026-04-05-rvis-only-resnet-1cam/PLAN.md

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