feat: add pusht dit no-causal config

docs/superpowers/plans/2026-03-27-pusht-dit-nocausal-compare.md

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+# 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.