早停特征验证，早停不通

scripts/run_all_world_model_cases.sh

@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "${repo_root}"
+
+run_analysis="${RUN_ANALYSIS:-1}"
+case_filter="${CASE_FILTER:-}"
+
+case_scripts=(
+    "unitree_z1_stackbox/case1/run_world_model_interaction.sh"
+    "unitree_z1_stackbox/case2/run_world_model_interaction.sh"
+    "unitree_z1_stackbox/case3/run_world_model_interaction.sh"
+    "unitree_z1_stackbox/case4/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh"
+    "unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh"
+    "unitree_g1_pack_camera/case1/run_world_model_interaction.sh"
+    "unitree_g1_pack_camera/case2/run_world_model_interaction.sh"
+    "unitree_g1_pack_camera/case3/run_world_model_interaction.sh"
+    "unitree_g1_pack_camera/case4/run_world_model_interaction.sh"
+)
+
+for case_script in "${case_scripts[@]}"; do
+    if [[ -n "${case_filter}" ]] && [[ "${case_script}" != *"${case_filter}"* ]]; then
+        continue
+    fi
+
+    case_dir="$(dirname "${case_script}")"
+    inference_dir="${repo_root}/${case_dir}/output/inference"
+
+    echo "============================================================"
+    echo "Running ${case_script}"
+    echo "============================================================"
+    bash "${repo_root}/${case_script}"
+
+    if [[ "${run_analysis}" == "1" ]]; then
+        if [[ -f "${inference_dir}/stepwise_log.csv" ]] && \
+           [[ -f "${inference_dir}/sample_summary.csv" ]] && \
+           [[ -f "${inference_dir}/round_summary.csv" ]]; then
+            echo "Analyzing ${case_dir}"
+            python3 "${repo_root}/scripts/evaluation/analyze_metrics.py" \
+                --input_dir "${inference_dir}"
+        else
+            echo "Skipping analysis for ${case_dir}: missing analysis CSVs."
+        fi
+    fi
+done