29 lines
964 B
Markdown
29 lines
964 B
Markdown
# PLAN
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## Goal
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Train a 50k-step IMF baseline with the original ResNet vision backbone, using only the `front` camera as image conditioning.
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## Fixed comparison contract
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- Same as the active `top/front` run except image input is reduced to `[front]`
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- Agent: `resnet_imf_attnres`
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- Vision backbone mode: `resnet`
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- `pred_horizon=16`, `num_action_steps=8`
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- `n_emb=384`, `n_layer=12`, `n_head=1`, `n_kv_head=1`
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- `inference_steps=1`
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- `batch_size=80`, `lr=2.5e-4`, cosine, warmup=2000
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- dataset: `/home/droid/sim_dataset/sim_transfer`
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- cameras: `[front]` only
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- rollout every 5 epochs with 5 episodes, headless
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## Resource plan
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- Host: `100.119.99.14`
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- GPU: `0`
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## Important dimension override
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- Single-camera visual cond dim = `64 + 16 = 80`, so override `agent.head.cond_dim=80` and `agent.num_cams=1`.
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## Execution path
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1. 2-step smoke test on remote GPU0.
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2. If smoke passes, launch 50k main run with SwanLab.
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3. Record pid / run_dir / log / URL locally.
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