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

PLAN

Goal

Train a 50k-step IMF baseline with the original ResNet vision backbone, using only the front camera as image conditioning.

Fixed comparison contract

• Same as the active top/front run except image input is reduced to [front]
• 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, warmup=2000
• dataset: /home/droid/sim_dataset/sim_transfer
• cameras: [front] only
• rollout every 5 epochs with 5 episodes, headless

Resource plan

• Host: 100.119.99.14
• GPU: 0

Important dimension override

• Single-camera visual cond dim = 64 + 16 = 80, so override agent.head.cond_dim=80 and agent.num_cams=1.

Execution path

1. 2-step smoke test on remote GPU0.
2. If smoke passes, launch 50k main run with SwanLab.
3. Record pid / run_dir / log / URL locally.