From 5863fbb656d38f9927f429df2c576692cefa4572 Mon Sep 17 00:00:00 2001 From: qhy <2728290997@qq.com> Date: Thu, 12 Feb 2026 10:53:05 +0800 Subject: [PATCH] =?UTF-8?q?=E7=AC=AC=E4=B8=80=E6=AC=A1baseline=E6=B5=8B?= =?UTF-8?q?=E8=AF=95=EF=BC=8C=E8=A1=A5=E5=85=85psnr=E6=B5=8B=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 - run_all_psnr.sh | 61 +++++++++++++++++++ unitree_g1_pack_camera/case1/psnr_result.json | 5 ++ unitree_g1_pack_camera/case2/psnr_result.json | 5 ++ unitree_g1_pack_camera/case3/psnr_result.json | 5 ++ unitree_g1_pack_camera/case4/psnr_result.json | 5 ++ .../case1/psnr_result.json | 5 ++ .../case2/psnr_result.json | 5 ++ .../case3/psnr_result.json | 5 ++ .../case4/psnr_result.json | 5 ++ .../case1/psnr_result.json | 5 ++ .../case2/psnr_result.json | 5 ++ .../case3/psnr_result.json | 5 ++ .../case4/psnr_result.json | 5 ++ .../case1/psnr_result.json | 5 ++ .../case2/psnr_result.json | 5 ++ .../case3/psnr_result.json | 5 ++ .../case4/psnr_result.json | 5 ++ unitree_z1_stackbox/case1/psnr_result.json | 5 ++ unitree_z1_stackbox/case2/psnr_result.json | 5 ++ unitree_z1_stackbox/case3/psnr_result.json | 5 ++ unitree_z1_stackbox/case4/psnr_result.json | 5 ++ 22 files changed, 161 insertions(+), 1 deletion(-) create mode 100644 run_all_psnr.sh create mode 100644 unitree_g1_pack_camera/case1/psnr_result.json create mode 100644 unitree_g1_pack_camera/case2/psnr_result.json create mode 100644 unitree_g1_pack_camera/case3/psnr_result.json create mode 100644 unitree_g1_pack_camera/case4/psnr_result.json create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox/case1/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox/case2/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox/case3/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox/case4/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json create mode 100644 unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json create mode 100644 unitree_z1_stackbox/case1/psnr_result.json create mode 100644 unitree_z1_stackbox/case2/psnr_result.json create mode 100644 unitree_z1_stackbox/case3/psnr_result.json create mode 100644 unitree_z1_stackbox/case4/psnr_result.json diff --git a/.gitignore b/.gitignore index f0e85ae..895712e 100644 --- a/.gitignore +++ b/.gitignore @@ -121,7 +121,6 @@ localTest/ fig/ figure/ *.mp4 -*.json Data/ControlVAE.yml Data/Misc Data/Pretrained diff --git a/run_all_psnr.sh b/run_all_psnr.sh new file mode 100644 index 0000000..863edc0 --- /dev/null +++ b/run_all_psnr.sh @@ -0,0 +1,61 @@ +#!/bin/bash +set -e + +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +cd "$SCRIPT_DIR" + +SCENARIOS=( + unitree_g1_pack_camera + unitree_z1_dual_arm_cleanup_pencils + unitree_z1_dual_arm_stackbox + unitree_z1_dual_arm_stackbox_v2 + unitree_z1_stackbox +) + +CASES=(case1 case2 case3 case4) + +total=0 +success=0 +fail=0 + +for scenario in "${SCENARIOS[@]}"; do + for case in "${CASES[@]}"; do + case_dir="${scenario}/${case}" + gt_video="${case_dir}/${scenario}_${case}.mp4" + pred_video=$(ls "${case_dir}"/output/inference/*_full_fs*.mp4 2>/dev/null | head -1) + output_file="${case_dir}/psnr_result.json" + + total=$((total + 1)) + echo "==========================================" + echo "[${total}/20] ${case_dir}" + + if [ ! -f "$gt_video" ]; then + echo " SKIP: GT video not found: $gt_video" + fail=$((fail + 1)) + continue + fi + if [ -z "$pred_video" ]; then + echo " SKIP: pred video not found in ${case_dir}/output/inference/" + fail=$((fail + 1)) + continue + fi + + echo " GT: $gt_video" + echo " Pred: $pred_video" + echo " Out: $output_file" + + if python3 psnr_score_for_challenge.py \ + --gt_video "$gt_video" \ + --pred_video "$pred_video" \ + --output_file "$output_file"; then + success=$((success + 1)) + echo " DONE" + else + fail=$((fail + 1)) + echo " FAILED" + fi + done +done + +echo "==========================================" +echo "Finished: ${success} success, ${fail} fail, ${total} total" diff --git a/unitree_g1_pack_camera/case1/psnr_result.json b/unitree_g1_pack_camera/case1/psnr_result.json new file mode 100644 index 0000000..668fbe5 --- /dev/null +++ b/unitree_g1_pack_camera/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4", + "pred_video": "unitree_g1_pack_camera/case1/output/inference/0_full_fs6.mp4", + "psnr": 35.615362167470806 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case2/psnr_result.json b/unitree_g1_pack_camera/case2/psnr_result.json new file mode 100644 index 0000000..a22828d --- /dev/null +++ b/unitree_g1_pack_camera/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4", + "pred_video": "unitree_g1_pack_camera/case2/output/inference/50_full_fs6.mp4", + "psnr": 34.61979248212279 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case3/psnr_result.json b/unitree_g1_pack_camera/case3/psnr_result.json new file mode 100644 index 0000000..a9a2d4d --- /dev/null +++ b/unitree_g1_pack_camera/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4", + "pred_video": "unitree_g1_pack_camera/case3/output/inference/100_full_fs6.mp4", + "psnr": 37.034952654534486 +} \ No newline at end of file diff --git a/unitree_g1_pack_camera/case4/psnr_result.json b/unitree_g1_pack_camera/case4/psnr_result.json new file mode 100644 index 0000000..eba90df --- /dev/null +++ b/unitree_g1_pack_camera/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4", + "pred_video": "unitree_g1_pack_camera/case4/output/inference/200_full_fs6.mp4", + "psnr": 31.43390896360405 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json new file mode 100644 index 0000000..033b2da --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/0_full_fs4.mp4", + "psnr": 47.911564449209735 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json new file mode 100644 index 0000000..9c73585 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/50_full_fs4.mp4", + "psnr": 48.344571927558974 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json new file mode 100644 index 0000000..eabf3e9 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/100_full_fs4.mp4", + "psnr": 41.152374490134825 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json new file mode 100644 index 0000000..fe01c52 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4", + "pred_video": "unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/200_full_fs4.mp4", + "psnr": 46.025723557253855 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case1/psnr_result.json b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json new file mode 100644 index 0000000..d4ec454 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case1/output/inference/5_full_fs4.mp4", + "psnr": 44.3480149502738 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json new file mode 100644 index 0000000..4e41fef --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case2/output/inference/15_full_fs4.mp4", + "psnr": 39.867728254007716 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json new file mode 100644 index 0000000..5ac702a --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case3/output/inference/25_full_fs4.mp4", + "psnr": 39.19101039445159 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json new file mode 100644 index 0000000..821efad --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox/case4/output/inference/35_full_fs4.mp4", + "psnr": 40.29563315341769 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json new file mode 100644 index 0000000..2bfde71 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case1/unitree_z1_dual_arm_stackbox_v2_case1.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case1/output/inference/5_full_fs4.mp4", + "psnr": 25.812741419225095 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json new file mode 100644 index 0000000..77eb0d8 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case2/unitree_z1_dual_arm_stackbox_v2_case2.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case2/output/inference/15_full_fs4.mp4", + "psnr": 33.90444714332389 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json new file mode 100644 index 0000000..c8715fc --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case3/unitree_z1_dual_arm_stackbox_v2_case3.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case3/output/inference/25_full_fs4.mp4", + "psnr": 34.50192428908007 +} \ No newline at end of file diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json new file mode 100644 index 0000000..9f32cc3 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox_v2/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_dual_arm_stackbox_v2/case4/unitree_z1_dual_arm_stackbox_v2_case4.mp4", + "pred_video": "unitree_z1_dual_arm_stackbox_v2/case4/output/inference/35_full_fs4.mp4", + "psnr": 38.797893493652516 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case1/psnr_result.json b/unitree_z1_stackbox/case1/psnr_result.json new file mode 100644 index 0000000..f29b78c --- /dev/null +++ b/unitree_z1_stackbox/case1/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case1/unitree_z1_stackbox_case1.mp4", + "pred_video": "unitree_z1_stackbox/case1/output/inference/5_full_fs4.mp4", + "psnr": 42.83913947323794 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case2/psnr_result.json b/unitree_z1_stackbox/case2/psnr_result.json new file mode 100644 index 0000000..84b7fd5 --- /dev/null +++ b/unitree_z1_stackbox/case2/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case2/unitree_z1_stackbox_case2.mp4", + "pred_video": "unitree_z1_stackbox/case2/output/inference/15_full_fs4.mp4", + "psnr": 48.64571989587276 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case3/psnr_result.json b/unitree_z1_stackbox/case3/psnr_result.json new file mode 100644 index 0000000..30e0eb9 --- /dev/null +++ b/unitree_z1_stackbox/case3/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case3/unitree_z1_stackbox_case3.mp4", + "pred_video": "unitree_z1_stackbox/case3/output/inference/25_full_fs4.mp4", + "psnr": 45.127553229898034 +} \ No newline at end of file diff --git a/unitree_z1_stackbox/case4/psnr_result.json b/unitree_z1_stackbox/case4/psnr_result.json new file mode 100644 index 0000000..98658db --- /dev/null +++ b/unitree_z1_stackbox/case4/psnr_result.json @@ -0,0 +1,5 @@ +{ + "gt_video": "unitree_z1_stackbox/case4/unitree_z1_stackbox_case4.mp4", + "pred_video": "unitree_z1_stackbox/case4/output/inference/35_full_fs4.mp4", + "psnr": 50.642542240144444 +} \ No newline at end of file