roboimi/experiment_suites/2026-04-05-front-rvis-resnet-2cam/PLAN.md

PLAN

Goal

Train a 50k-step IMF baseline with the original ResNet vision backbone, using front + r_vis cameras only.

Fixed comparison contract

• Same hyperparameters as the active top/front and front-only runs
• 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: [r_vis, front]
• rollout every 5 epochs with 5 episodes, headless

Important dimension override

• Two-camera visual cond dim = 64*2 + 16 = 144, so set agent.num_cams=2, agent.head.cond_dim=144.

Resource plan

• Host: 100.119.99.14
• GPU: 1