Link every component explicitly in real experiment entrypoints

egomimic/hydra_configs/experiment/README.md

@@ -26,8 +26,24 @@ Each public task YAML is a **complete experiment entry point**: its defaults
 select the model graph, data filters/splits/transforms, evaluator, optimizer,
 trainer, callbacks and logging. No additional `model=` or `data=` selection
 is needed. Shared parents avoid copying those definitions into every leaf.
+Every runnable YAML under `real/`, including `variants/`, directly lists its
+`/model`, `/data`, `/evaluator`, `/trainer`, `/callbacks` and `/logger` config
+links in `defaults`. The optimizer is owned by the selected model config.
+Shared experiment parents supply task-specific values; `_base/` contains
+internal parents, not standalone run entry points.
 Supply machine-specific data/weight paths, credentials, a fresh W&B identity
 and the reviewed cluster allocation at launch.
+Activate the project environment first (or set `PYTHONPATH=.` from the checkout).
+Recipes using the shared ABC data cache require `EGOVERSE_ABC_DATASET_DIR` to
+point to that host's cache. This is a storage binding, not another data/model
+config selection.
+
+For example, inspect the complete configuration without starting training:
+
+```bash
+python egomimic/trainHydra.py \
+  +experiment=real/organize_stationary/arc_vel --cfg job --resolve
+```
 
 Example (submits a run; execute only after launch preflight):
 

egomimic/hydra_configs/experiment/real/arcdur_abstime/fold_and_stack_towels.yaml

@@ -3,6 +3,13 @@
 defaults:
   - /experiment/_shared/frozen_yam/towels_hpt300
   - /experiment/real/arcdur_abstime/_base/arcdur_abstime
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
+  - override /data: abc_arc/towels_since0924plus74_20261015
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: arcdur_abstime_fold_and_stack_towels
 description: Frozen since0924plus74 towels (443 train / 17 val), HPT300, absolute-duration single-clock ARC M200 D0.33

egomimic/hydra_configs/experiment/real/arcdur_abstime/organize_stationary.yaml

@@ -3,7 +3,13 @@
 defaults:
   - /experiment/_shared/frozen_yam/stattempo_openloop
   - /experiment/real/arcdur_abstime/_base/arcdur_abstime
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt_flow
   - override /data: abc_arc/stationery_sp366e51_bc_time
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: arcdur_abstime_organize_stationary
 description: Slow-pace 366 + Elmo 51 stationery BC (417 train / 24 val), HPT 640x8 flow, absolute-duration single-clock ARC M200 D0.22

egomimic/hydra_configs/experiment/real/arcdur_abstime/wireless_earbuds.yaml

@@ -3,7 +3,13 @@
 defaults:
   - /experiment/_shared/frozen_yam/earbuds_updated_hpt300
   - /experiment/real/arcdur_abstime/_base/arcdur_abstime
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
   - override /data: abc_arc/earbuds_plus49_20261020
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: arcdur_abstime_wireless_earbuds
 description: Earbuds updated + Elmo's 49 takes of 2026-10-20 (319 train / 15 val), HPT300, absolute-duration single-clock ARC M200 D0.22

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/arc_dur.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/fold_and_stack_towels/arc_vel
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
+  - override /data: abc_arc/towels_since0924plus74_20261015
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: fold_and_stack_towels_arc_dur
 description: Frozen since0924plus74 towels HPT300, canonical absolute-duration ARC M200 D0.33 R100

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/arc_vel.yaml

@@ -2,6 +2,13 @@
 defaults:
   - /experiment/real/fold_and_stack_towels/baseline
   - /experiment/_shared/frozen_yam_arc
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
+  - override /data: abc_arc/towels_since0924plus74_20261015
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: fold_and_stack_towels_arc_vel
 description: Frozen since0924plus74 towels HPT300, canonical velocity ARC M200 D0.33 R100

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/baseline.yaml

@@ -1,9 +1,14 @@
 # @package _global_
 defaults:
-- /experiment/_shared/frozen_yam/towels_hpt300
-- override /data: abc_arc/towels_since0924plus74_20261015
-- override /model: abc_arc/frozen_yam_hpt300_time
-- _self_
+  - /experiment/_shared/frozen_yam/towels_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
+  - override /data: abc_arc/towels_since0924plus74_20261015
+  - override /evaluator: frozen_yam_time
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
+  - _self_
 towels_pool: since0924plus74
 frozen_yam:
   variant: time

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_baseline_visual_openloop.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/multitask/variants/abc_multitask4_abcdit_baseline_visual_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/abc_dit_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_rl2_towels_abcdit_baseline_visual_openloop
 description: ABC-DiT XL ABC + RL2 towel folding baseline 100-frame chunks

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_multistream_logclock_visual_openloop.yaml

@@ -1,7 +1,14 @@
 # @package _global_
 defaults:
-- /experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_multistream_visual_openloop
-- _self_
+  - /experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_multistream_visual_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/abc_dit_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
+  - _self_
 name: abc_rl2_towels_abcdit_multistream_logclock_visual_openloop
 description: ABC-DiT XL ABC + RL2 towels multistream ARC D0.714 R2.10 M100, log-seconds duration clocks
 abc:

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_multistream_visual_openloop.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_baseline_visual_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/abc_dit_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_rl2_towels_abcdit_multistream_visual_openloop
 description: ABC-DiT XL ABC + RL2 towels multistream ARC D0.714 R2.10 M100

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_hpt180_multistream_visual_openloop.yaml

@@ -5,7 +5,13 @@
 # source window, trainer and evaluator are inherited unchanged.
 defaults:
   - /experiment/real/fold_and_stack_towels/variants/abc_rl2_towels_abcdit_multistream_visual_openloop
+  # Shared parents supply task settings; these links select every component.
   - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_rl2_towels_hpt180_multistream_visual_openloop
 description: HPT180 ResNet-MLP ABC + RL2 towels multistream ARC D0.714 R2.10 M100

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_towels_hpt180_baseline_visual_openloop.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/_shared/visual_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 
 name: abc_towels_hpt180_baseline_visual_openloop

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/abc_towels_hpt180_hybrid_visual_openloop.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/fold_and_stack_towels/variants/abc_towels_hpt180_baseline_visual_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_towels_hpt180_hybrid_visual_openloop
 description: HPT180 ABC towels visual-only hybrid D40 M100 R24deg

egomimic/hydra_configs/experiment/real/fold_and_stack_towels/variants/new290plus74_baseline.yaml

@@ -1,9 +1,14 @@
 # @package _global_
 defaults:
-- /experiment/_shared/frozen_yam/towels_hpt300
-- override /data: abc_arc/towels_new290plus74_20261015
-- override /model: abc_arc/frozen_yam_hpt300_time
-- _self_
+  - /experiment/_shared/frozen_yam/towels_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/frozen_yam_hpt300_time
+  - override /data: abc_arc/towels_new290plus74_20261015
+  - override /evaluator: frozen_yam_time
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
+  - _self_
 towels_pool: new290plus74
 frozen_yam:
   variant: time

egomimic/hydra_configs/experiment/real/multitask/arc_dur.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/multitask/arc_vel
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: multitask_arc_dur
 description: HPT300 ABC four-task first-delay absolute-duration ARC

egomimic/hydra_configs/experiment/real/multitask/arc_vel.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/multitask/baseline
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_multitask4_hpt300_hybrid_visual_openloop
 description: HPT300M ABC four-task visual-only hybrid ARC D81 M100 R24deg

egomimic/hydra_configs/experiment/real/multitask/baseline.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/_shared/visual_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_multitask4_hpt300_baseline_visual_openloop
 description: HPT300M ABC four-task visual-only baseline 100-frame chunks

egomimic/hydra_configs/experiment/real/multitask/variants/abc_multitask4_abcdit_baseline_visual_openloop.yaml

@@ -1,7 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/multitask/baseline
+  # Shared parents supply task settings; these links select every component.
   - override /model: abc_arc/abc_dit_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_multitask4_abcdit_baseline_visual_openloop
 description: ABC-DiT XL four-task baseline 100-frame chunks

egomimic/hydra_configs/experiment/real/multitask/variants/abc_multitask4_abcdit_hybrid_visual_openloop.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/multitask/variants/abc_multitask4_abcdit_baseline_visual_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/abc_dit_yam_visual
+  - override /data: abc_arc/abc_visual
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: abc_multitask4_abcdit_hybrid_visual_openloop
 description: ABC-DiT XL four-task hybrid ARC D81 M100 R24deg

egomimic/hydra_configs/experiment/real/organize_stationary/arc_dur.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/organize_stationary/arc_vel
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_bimanual_visual
+  - override /data: abc_arc/organize_rl2_elmo_cotrain
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: organize_stationary_arc_dur
 description: HPT300 robot + human organize stationery, first-delay absolute duration

egomimic/hydra_configs/experiment/real/organize_stationary/arc_vel.yaml

@@ -1,6 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/organize_stationary/_base/arc
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_bimanual_visual
+  - override /data: abc_arc/organize_rl2_elmo_cotrain
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: organize_stationary_arc_vel
 description: HPT300 robot + human organize stationery, first-delay ARC velocity

egomimic/hydra_configs/experiment/real/organize_stationary/baseline.yaml

@@ -1,9 +1,14 @@
 # @package _global_
 defaults:
-- /experiment/_shared/visual_hpt300
-- override /model: abc_arc/hpt_bimanual_visual
-- override /data: abc_arc/organize_rl2_elmo_cotrain
-- _self_
+  - /experiment/_shared/visual_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_bimanual_visual
+  - override /data: abc_arc/organize_rl2_elmo_cotrain
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
+  - _self_
 name: organize_rl2_elmo_hpt300_cotrain_baseline
 description: HPT300 ResNet-MLP stems, robot + human cotraining, 100-frame chunks
 abc:

egomimic/hydra_configs/experiment/real/organize_stationary/variants/organize_rl2_elmo_hpt180_cotrain_baseline.yaml

@@ -4,6 +4,13 @@
 # keeping the ResNet-MLP image stems. 182.5M parameters.
 defaults:
   - /experiment/real/organize_stationary/baseline
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_bimanual_visual
+  - override /data: abc_arc/organize_rl2_elmo_cotrain
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: organize_rl2_elmo_hpt180_cotrain_baseline
 description: HPT180 ResNet-MLP stems, robot + human cotraining, 100-frame chunks

egomimic/hydra_configs/experiment/real/organize_stationary/variants/organize_rl2_elmo_hpt180_cotrain_multistream.yaml

@@ -3,6 +3,13 @@
 # 182.5M model and 400-frame ARC read window.
 defaults:
   - /experiment/real/organize_stationary/_base/arc
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_bimanual_visual
+  - override /data: abc_arc/organize_rl2_elmo_cotrain
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: organize_rl2_elmo_hpt180_cotrain_multistream
 description: HPT180 ResNet-MLP cotraining, multistream ARC D0.42 R24deg M100 duration clocks

egomimic/hydra_configs/experiment/real/organize_stationary/variants/stationery_rl2_hpt300_visual_baseline_openloop.yaml

@@ -1,7 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/_shared/visual_hpt300
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
   - override /data: abc_arc/stationery_rl2_hpt_baseline
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: stationery_rl2_hpt300_visual_baseline_openloop
 description: HPT300M RL2 organize_stationary visual-only baseline

egomimic/hydra_configs/experiment/real/organize_stationary/variants/stationery_rl2_hpt300_visual_hybrid_openloop.yaml

@@ -1,7 +1,13 @@
 # @package _global_
 defaults:
   - /experiment/real/organize_stationary/variants/stationery_rl2_hpt300_visual_baseline_openloop
+  # Shared parents supply task settings; these links select every component.
+  - override /model: abc_arc/hpt_yam_visual
   - override /data: abc_arc/stationery_rl2_hpt_arc_hybrid_D40_M100_R24deg
+  - override /evaluator: eval_open_loop_sim
+  - override /trainer: ddp
+  - override /callbacks: checkpoints
+  - override /logger: wandb
   - _self_
 name: stationery_rl2_hpt300_visual_hybrid_openloop
 description: HPT300M RL2 organize_stationary visual-only hybrid D40 M100 R24deg