24 lines
775 B
Markdown
24 lines
775 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 `front` + `r_vis` cameras only.
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## Fixed comparison contract
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- Same hyperparameters as the active top/front and front-only runs
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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: `[r_vis, front]`
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- rollout every 5 epochs with 5 episodes, headless
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## Important dimension override
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- Two-camera visual cond dim = `64*2 + 16 = 144`, so set `agent.num_cams=2`, `agent.head.cond_dim=144`.
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## Resource plan
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- Host: `100.119.99.14`
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- GPU: `1`
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