From 31925bbf3948b47902cf639fc1b85095355fc3c9 Mon Sep 17 00:00:00 2001
From: Logic <logic@gitea.ideaopen.cn>
Date: Fri, 27 Mar 2026 17:06:16 +0800
Subject: [PATCH] feat: add pusht dit no-causal config

---
 .../2026-03-27-pusht-dit-nocausal-compare.md  | 53 +++++++++++++++++++
 ...e_pusht_diffusion_policy_dit_nocausal.yaml | 31 +++++++++++
 tests/test_pusht_swanlab_config.py            | 12 +++++
 3 files changed, 96 insertions(+)
 create mode 100644 docs/superpowers/plans/2026-03-27-pusht-dit-nocausal-compare.md
 create mode 100644 image_pusht_diffusion_policy_dit_nocausal.yaml

diff --git a/docs/superpowers/plans/2026-03-27-pusht-dit-nocausal-compare.md b/docs/superpowers/plans/2026-03-27-pusht-dit-nocausal-compare.md
new file mode 100644
index 0000000..c0904f4
--- /dev/null
+++ b/docs/superpowers/plans/2026-03-27-pusht-dit-nocausal-compare.md
@@ -0,0 +1,53 @@
+# PushT DiT No-Causal Compare Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** Add a PushT image DiT no-causal config, rerun the two prior DiT baselines for 350 epochs, and compare max `test_mean_score` plus batch-1 inference latency.
+
+**Architecture:** Keep the existing causal DiT baselines unchanged and add a separate no-causal config that only flips `policy.causal_attn=false` while preserving the SwanLab naming safeguards. Launch the default DiT (`256x8`) locally and the `256x18` DiT on 5880 GPU0, then parse `logs.json.txt` and benchmark both checkpoints on the same hardware.
+
+**Tech Stack:** Hydra, Diffusion Policy transformer image workspace, SwanLab, uv Python env, local 5090 + trusted remote 5880.
+
+---
+
+### Task 1: Add no-causal DiT config and config regression test
+
+**Files:**
+- Create: `image_pusht_diffusion_policy_dit_nocausal.yaml`
+- Modify: `tests/test_pusht_swanlab_config.py`
+
+- [ ] Write a failing test asserting the new no-causal DiT config uses SwanLab-safe naming and `policy.causal_attn == False`.
+- [ ] Run the targeted pytest command and verify it fails because the config does not exist yet.
+- [ ] Add the minimal new config by composing from the existing PushT DiT config and overriding only `policy.causal_attn=false`.
+- [ ] Re-run the targeted pytest command and verify it passes.
+
+### Task 2: Smoke-verify the new config
+
+**Files:**
+- Read: `image_pusht_diffusion_policy_dit_nocausal.yaml`
+
+- [ ] Run `train.py --help` against the new config.
+- [ ] Verify Hydra resolves the config without errors.
+
+### Task 3: Launch the two 350-epoch no-causal reruns
+
+**Files:**
+- Write runtime scripts/logs under `data/run_logs/`
+- Write outputs under `data/outputs/`
+
+- [ ] Launch local run: `dit_nocausal_img_pusht_default_seed42_local` with 350 epochs.
+- [ ] Launch remote run: `dit_nocausal_img_pusht_emb256_layer18_seed42_5880gpu0` with 350 epochs and `policy.n_layer=18`.
+- [ ] Use explicit SwanLab overrides: unique `logging.name`, `logging.resume=false`, `logging.id=null`, shared group `dit_pusht_nocausal_compare`.
+- [ ] Record pid files and launcher scripts.
+
+### Task 4: Monitor and summarize
+
+**Files:**
+- Read: per-run `logs.json.txt`
+- Read: checkpoints directories
+
+- [ ] Monitor until both runs reach epoch 349 completion.
+- [ ] Extract `max(test_mean_score)` and final logged `test_mean_score`.
+- [ ] Identify the best checkpoint for each run.
+- [ ] Benchmark batch-1 `policy.predict_action(obs)` latency on the same hardware.
+- [ ] Report the final comparison table and short conclusion.
diff --git a/image_pusht_diffusion_policy_dit_nocausal.yaml b/image_pusht_diffusion_policy_dit_nocausal.yaml
new file mode 100644
index 0000000..6eaa76d
--- /dev/null
+++ b/image_pusht_diffusion_policy_dit_nocausal.yaml
@@ -0,0 +1,31 @@
+defaults:
+  - diffusion_policy/config/train_diffusion_transformer_hybrid_workspace@_here_
+  - override /diffusion_policy/config/task@task: pusht_image
+  - _self_
+
+exp_name: pusht_image_dit_nocausal
+
+policy:
+  _target_: diffusion_policy.policy.diffusion_transformer_hybrid_image_policy.DiffusionTransformerHybridImagePolicy
+  causal_attn: false
+
+logging:
+  backend: swanlab
+  mode: online
+  name: ${exp_name}
+  resume: false
+  tags: ["${name}", "${task_name}", "${exp_name}", "swanlab"]
+  id: null
+  group: ${exp_name}
+
+dataloader:
+  num_workers: 0
+
+val_dataloader:
+  num_workers: 0
+
+task:
+  env_runner:
+    n_envs: 1
+    n_test_vis: 0
+    n_train_vis: 0
diff --git a/tests/test_pusht_swanlab_config.py b/tests/test_pusht_swanlab_config.py
index 130b11c..970203c 100644
--- a/tests/test_pusht_swanlab_config.py
+++ b/tests/test_pusht_swanlab_config.py
@@ -30,3 +30,15 @@ def test_image_pusht_dit_imf_swanlab_config_uses_exp_name_and_no_resume_collisio
     assert cfg.logging.resume is False
     assert cfg.logging.id is None
     assert cfg.logging.group == cfg.exp_name
+
+
+def test_image_pusht_dit_nocausal_config_uses_exp_name_and_disables_causal_attention():
+    cfg = _load_cfg('image_pusht_diffusion_policy_dit_nocausal.yaml')
+
+    assert cfg.logging.backend == 'swanlab'
+    assert cfg.logging.mode == 'online'
+    assert cfg.logging.name == cfg.exp_name
+    assert cfg.logging.resume is False
+    assert cfg.logging.id is None
+    assert cfg.logging.group == cfg.exp_name
+    assert cfg.policy.causal_attn is False