早停特征验证，早停不通

unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=119.6001, median=138.8359, p90=169.4805, p95=174.5434
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3526, median=0.3488, p90=0.4169, p95=0.4275
+- `action_delta_mid_steps`: mean=0.0318, median=0.0300, p90=0.0453, p95=0.0481
+- `state_delta_mid_steps`: mean=0.0311, median=0.0302, p90=0.0437, p95=0.0460
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=229.0488, median=228.5274, p90=251.0416, p95=257.7575
+- `action_drift_vs_prev_round`: mean=0.1520, median=0.1298, p90=0.2520, p95=0.3113
+- `round_total_time_s`: mean=150.0686, median=151.2592, p90=152.1900, p95=152.5157
+- `policy_pass_total_time_s`: mean=73.6966, median=74.1877, p90=74.7325, p95=74.8893
+- `world_model_pass_total_time_s`: mean=73.2965, median=74.3135, p90=74.6243, p95=74.6295
+

unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+unitree_g1_pack_camera,policy,73.69664512981068,73.69664512981068,,,,,,,,,,,44.72727272727273,44.72727272727273,,46.63636363636363,46.63636363636363,,46.63636363636363,46.63636363636363,,46.90909090909091,46.90909090909091,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,
+unitree_g1_pack_camera,world_model,73.29652458971196,73.29652458971196,,,,,,,,,,,44.81818181818182,44.81818181818182,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,

unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv

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+world_model,50,1.424516504461115,1.465331792831421,0.09797369768989259,0.11281669681722463,0.1131988316774368,0.0014460534514129846,0.09963723949410695,0.1026747152209281,0.009005601618786255,0.10734941674904386,0.1091611236333847,0.01564759775429332,1.0000000162558123,1.0,8.877254579184924e-08,0.9999999891627919,1.0,7.453289406702733e-08,0.0,0.0,0.0

unitree_g1_pack_camera/case1/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,0,75.04600715637207,74.63465595245361,152.84141325950623,,,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,1,74.28308296203613,74.47904086112976,151.1198422908783,226.4590301513672,0.19760429859161377,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,2,74.51005530357361,74.53634142875671,152.12407612800598,239.2180633544922,0.16546988487243652,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,3,73.78234267234802,74.31759691238403,151.25920009613037,204.92880249023438,0.037446677684783936,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,4,74.18772149085999,74.25887393951416,151.73889231681824,201.3100128173828,0.10639482736587524,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,5,74.7325496673584,74.31347179412842,152.19000148773193,207.3344268798828,0.04424440860748291,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,6,73.2101833820343,73.87332224845886,150.26363015174866,230.59576416015625,0.2387702465057373,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,7,74.03829026222229,74.11333274841309,151.28116488456726,264.4734802246094,0.3706701993942261,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,8,72.93115448951721,74.62432265281677,151.0261468887329,218.65711975097656,0.09988278150558472,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,9,74.60982584953308,68.8978283405304,146.2382218837738,247.96261596679688,0.14695966243743896,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,10,69.33188319206238,68.21298360824585,140.671804189682,249.54913330078125,0.11264693737030029,

unitree_g1_pack_camera/case1/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,73.69664512981068,,,,44.72727272727273,46.63636363636363,46.63636363636363,46.90909090909091,,229.04884490966796,0.15200899243354798,150.06858123432505,73.69664512981068,73.29652458971196,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,73.29652458971196,,,,44.81818181818182,46.72727272727273,46.72727272727273,46.72727272727273,,229.04884490966796,0.15200899243354798,150.06858123432505,73.69664512981068,73.29652458971196,

unitree_g1_pack_camera/case1/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera"
         --n_iter 11 \
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
-        --perframe_ae
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case2/output/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=118.1448, median=137.2515, p90=165.2197, p95=172.7743
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3529, median=0.3489, p90=0.4169, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0313, median=0.0298, p90=0.0451, p95=0.0483
+- `state_delta_mid_steps`: mean=0.0310, median=0.0300, p90=0.0436, p95=0.0460
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.7273, median=46.7273, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=236.4804, median=243.4704, p90=257.5054, p95=261.9766
+- `action_drift_vs_prev_round`: mean=0.2621, median=0.2435, p90=0.4256, p95=0.5909
+- `round_total_time_s`: mean=151.4911, median=151.4212, p90=152.2260, p95=152.4231
+- `policy_pass_total_time_s`: mean=74.2250, median=74.3476, p90=75.0393, p95=75.0564
+- `world_model_pass_total_time_s`: mean=74.2693, median=74.3542, p90=74.6399, p95=74.6751
+

unitree_g1_pack_camera/case2/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+unitree_g1_pack_camera,policy,74.22499192844738,74.22499192844738,,,,,,,,,,,44.90909090909091,44.90909090909091,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,47.09090909090909,47.09090909090909,,151.4910772713748,151.4910772713748,,74.22499192844738,74.22499192844738,,74.26925277709961,74.26925277709961,,236.48041229248048,236.48041229248048,,0.2620766624808311,0.2620766624808311,
+unitree_g1_pack_camera,world_model,74.26925277709961,74.26925277709961,,,,,,,,,,,45.09090909090909,45.09090909090909,,46.81818181818182,46.81818181818182,,46.81818181818182,46.81818181818182,,47.0,47.0,,151.4910772713748,151.4910772713748,,74.22499192844738,74.22499192844738,,74.26925277709961,74.26925277709961,,236.48041229248048,236.48041229248048,,0.2620766624808311,0.2620766624808311,

unitree_g1_pack_camera/case2/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
+pass_type,step,step_time_s,step_time_s,step_time_s,latent_delta,latent_delta,latent_delta,action_delta,action_delta,action_delta,state_delta,state_delta,state_delta,action_cosine_vs_full50,action_cosine_vs_full50,action_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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+world_model,40,1.4493407769636675,1.470323085784912,0.06572833988802318,0.23202403296123847,0.2320883125066757,0.0012036458383110102,0.06569067117842757,0.0654900670051574,0.006411147085674034,0.05969483032822606,0.0592914931476116,0.004219305708607066,0.7084378925236788,0.6939785480499268,0.045380733492624795,0.7307011593471874,0.7432782053947449,0.048035298935345624,73.08628845214844,72.84756469726562,2.07923501798585
+world_model,41,1.4573284062472256,1.4700312614440918,0.0370534358561458,0.22215828434987497,0.2223339676856994,0.0013724004212598267,0.07068931311368937,0.0700770542025566,0.006554823289565176,0.06379096819595852,0.0629786178469657,0.00475146840616847,0.7510665926066312,0.7382872104644775,0.039103908591640126,0.7674615762450478,0.7815163731575012,0.04401146730885997,66.92877127907492,66.76079559326172,1.904429683056744
+world_model,42,1.472347909753973,1.471879243850708,0.004512496384125374,0.21208873391151425,0.2122828066349029,0.0011106712680253046,0.07237665185874155,0.0742420554161071,0.006878926047868891,0.06591428240591825,0.0650044381618499,0.005173112327771861,0.7931421778418801,0.7826967835426331,0.03255222885666834,0.8038193420930342,0.817225456237793,0.03951663361029531,60.75834100896662,60.58831024169922,1.784008107367363
+world_model,43,1.473245078867132,1.4741942882537842,0.005057887611558761,0.2017368132417852,0.2020859122276306,0.0013095438144527392,0.07499958303841672,0.077450230717659,0.006923322805484402,0.0688668841665441,0.0676911398768425,0.005690935943467537,0.8340574665503069,0.8273907899856567,0.026183798745461617,0.8396464911374178,0.8520113825798035,0.034497810693552414,54.59273286299272,54.47153854370117,1.6672659448943383
+world_model,44,1.45997014912692,1.4646635055541992,0.02824111231732757,0.19159558550878,0.1915890276432037,0.0016183018834445798,0.07678810439326543,0.079277366399765,0.007023165993196711,0.07200149582190941,0.0705419108271598,0.006390149806645373,0.8724208149042997,0.8686785697937012,0.020170409645229478,0.8743312358856201,0.8852443695068359,0.028886887219557594,48.40534903786399,48.40412139892578,1.6125706548487995
+world_model,45,1.4271635575727983,1.4661035537719729,0.09077765048230702,0.18112877282229334,0.1811060905456543,0.0012665793972931592,0.07918936420570716,0.0816321223974227,0.006972856245226984,0.0732993219386447,0.0716978013515472,0.00687801444030462,0.9075356559319929,0.9058945775032043,0.014766805758019653,0.9061606201258573,0.9153600931167604,0.023099187008648582,42.214285070245914,42.10221099853516,1.5501295240145427
+world_model,46,1.454150069843639,1.465440273284912,0.046938897450560346,0.1707551614804701,0.1706317067146301,0.0013704254678219329,0.0800631452690471,0.0820023715496063,0.006877951209625974,0.07679086381738832,0.0749254077672958,0.007594655967727309,0.9378488930788907,0.9374494552612304,0.010142308153877509,0.9352135224775835,0.9412532448768616,0.017130158182826937,35.984771728515625,35.834083557128906,1.3928999168471727
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+world_model,48,1.4725998748432507,1.4715147018432615,0.005562590687362959,0.14925749193538315,0.1493022590875625,0.001481298804437523,0.08466065742752765,0.086168959736824,0.0068652579897853505,0.08451796526258638,0.081049621105194,0.009985346082964086,0.9823395989157937,0.98233562707901,0.0032132131976568877,0.9805591648275201,0.98159259557724,0.005925655667429363,22.959143205122515,22.978052139282227,1.0235607160588875
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unitree_g1_pack_camera/case2/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,0,75.03928279876709,73.9881739616394,152.16393160820007,,,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,1,74.23106241226196,73.55208587646484,150.9755437374115,214.81951904296875,0.24937200546264648,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,2,75.07349109649658,74.42506957054138,152.62019896507263,202.9042205810547,0.24527257680892944,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,3,73.82551193237305,74.7103636264801,150.684387922287,223.25729370117188,0.0750700831413269,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,4,74.71211385726929,74.36838006973267,152.22601079940796,210.7346954345703,0.241740882396698,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,5,73.80026388168335,74.63985013961792,151.58087468147278,266.4477844238281,0.7560845464468002,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,6,74.41286873817444,74.4742693901062,151.42124199867249,239.9493865966797,0.1602541208267212,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,7,74.38386011123657,74.27649450302124,151.78351974487305,247.0240936279297,0.13166594505310059,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,8,73.25273704528809,74.35415315628052,150.77343583106995,256.5118408203125,0.06467467546463013,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,9,74.34760189056396,73.83727645874023,151.31240582466125,256.1639709472656,0.30772316455841064,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,10,73.39611744880676,74.33566379547119,150.86029887199402,246.99131774902344,0.38890862464904785,

unitree_g1_pack_camera/case2/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,74.22499192844738,,,,44.90909090909091,46.72727272727273,46.72727272727273,47.09090909090909,,236.48041229248048,0.26207666248083117,151.4910772713748,74.22499192844738,74.26925277709961,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,74.26925277709961,,,,45.09090909090909,46.81818181818182,46.81818181818182,47.0,,236.48041229248048,0.26207666248083117,151.4910772713748,74.22499192844738,74.26925277709961,

unitree_g1_pack_camera/case2/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera"
         --n_iter 11 \
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
-        --perframe_ae
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case3/output/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=116.0635, median=135.1986, p90=161.0852, p95=169.8322
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3529, median=0.3489, p90=0.4169, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0320, median=0.0307, p90=0.0455, p95=0.0488
+- `state_delta_mid_steps`: mean=0.0312, median=0.0301, p90=0.0439, p95=0.0465
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=215.2431, median=230.0003, p90=237.2570, p95=239.0189
+- `action_drift_vs_prev_round`: mean=0.2697, median=0.2050, p90=0.4657, p95=0.6923
+- `round_total_time_s`: mean=147.1026, median=152.2600, p90=152.9385, p95=152.9569
+- `policy_pass_total_time_s`: mean=71.2595, median=74.7608, p90=74.9093, p95=75.1472
+- `world_model_pass_total_time_s`: mean=73.1823, median=74.7396, p90=74.9509, p95=74.9599
+

unitree_g1_pack_camera/case3/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+unitree_g1_pack_camera,policy,71.25950481674887,71.25950481674887,,,,,,,,,,,44.72727272727273,44.72727272727273,,46.63636363636363,46.63636363636363,,46.63636363636363,46.63636363636363,,46.72727272727273,46.72727272727273,,147.10261366584083,147.10261366584083,,71.25950481674887,71.25950481674887,,73.18230964920737,73.18230964920737,,215.24309921264648,215.24309921264648,,0.2696936547756195,0.2696936547756195,
+unitree_g1_pack_camera,world_model,73.18230964920737,73.18230964920737,,,,,,,,,,,45.0,45.0,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,147.10261366584083,147.10261366584083,,71.25950481674887,71.25950481674887,,73.18230964920737,73.18230964920737,,215.24309921264648,215.24309921264648,,0.2696936547756195,0.2696936547756195,

unitree_g1_pack_camera/case3/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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unitree_g1_pack_camera/case3/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,0,75.38506054878235,74.50816583633423,151.84783244132996,,,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,1,74.49218130111694,74.62240505218506,152.25997352600098,224.97146606445312,0.2796536087989807,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,2,74.69758439064026,74.56192207336426,151.35133409500122,228.21055603027344,0.15541577339172363,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,3,74.7608425617218,74.91416335105896,152.6145670413971,236.63555908203125,0.25457870960235596,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,4,74.69965195655823,74.96893620491028,151.8847451210022,231.79010009765625,0.918834924697876,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,5,74.81953477859497,74.73957371711731,152.68081712722778,198.5364227294922,0.08309799432754517,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,6,74.90933179855347,74.88512587547302,152.9385278224945,231.7943572998047,0.11995601654052734,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,7,74.84911894798279,74.95093822479248,152.97526359558105,236.86546325683594,0.39963626861572266,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,8,74.88821697235107,67.77415251731873,145.36549997329712,240.78086853027344,0.4154035449028015,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,9,35.5922589302063,64.26668500900269,101.50574612617493,198.4535675048828,0.06449002027511597,
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unitree_g1_pack_camera/case3/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,71.25950481674887,,,,44.72727272727273,46.63636363636363,46.63636363636363,46.72727272727273,,215.24309921264648,0.2696936547756195,147.10261366584083,71.25950481674887,73.18230964920737,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,73.18230964920737,,,,45.0,46.72727272727273,46.72727272727273,46.72727272727273,,215.24309921264648,0.2696936547756195,147.10261366584083,71.25950481674887,73.18230964920737,

unitree_g1_pack_camera/case3/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera"
         --n_iter 11 \
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
-        --perframe_ae
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case4/output/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=123.5010, median=143.1178, p90=173.0218, p95=183.1080
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3512, median=0.3474, p90=0.4163, p95=0.4272
+- `action_delta_mid_steps`: mean=0.0318, median=0.0302, p90=0.0453, p95=0.0481
+- `state_delta_mid_steps`: mean=0.0313, median=0.0303, p90=0.0440, p95=0.0461
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `oracle_budget_state`: mean=46.5455, median=46.5455, p90=46.5455, p95=46.5455
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=231.5603, median=231.6096, p90=244.0158, p95=252.6133
+- `action_drift_vs_prev_round`: mean=0.2541, median=0.1514, p90=0.5899, p95=0.6868
+- `round_total_time_s`: mean=149.5150, median=149.4089, p90=150.2778, p95=150.4611
+- `policy_pass_total_time_s`: mean=73.3453, median=73.5693, p90=73.9486, p95=74.0089
+- `world_model_pass_total_time_s`: mean=73.2888, median=73.4965, p90=73.8629, p95=74.1038
+

unitree_g1_pack_camera/case4/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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unitree_g1_pack_camera/case4/output/inference/analysis/step_aggregate.csv

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unitree_g1_pack_camera/case4/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,0,73.94856452941895,73.82903981208801,150.27776408195496,,,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,1,73.56928658485413,72.59175229072571,149.55499029159546,239.52206420898438,0.4142507314682007,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,2,73.70886850357056,73.86287522315979,149.8262255191803,221.16651916503906,0.03018885850906372,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,3,73.6336178779602,74.3447675704956,148.92326378822327,235.0866241455078,0.33992570638656616,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,4,73.71470236778259,73.62404441833496,150.64440989494324,234.82203674316406,0.7838059663772583,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,5,72.88737607002258,73.55074310302734,149.81744408607483,228.39707946777344,0.14519017934799194,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,6,72.78406834602356,73.49648332595825,149.40886855125427,261.2109069824219,0.1576852798461914,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,7,72.29405403137207,73.04967951774597,148.47189116477966,242.10520935058594,0.5683176815509796,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,8,74.06924510002136,72.0180025100708,149.22126245498657,220.84542846679688,0.03633618354797363,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,9,73.14275288581848,72.9461841583252,149.21196603775024,221.39315795898438,0.020627498626708984,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,10,73.04537987709045,72.86302947998047,149.30650162696838,211.05397033691406,0.04485917091369629,

unitree_g1_pack_camera/case4/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,73.34526510672136,,,,44.54545454545455,46.63636363636363,46.63636363636363,46.81818181818182,,231.5602996826172,0.2541187256574631,149.51496249979192,73.34526510672136,73.28878194635564,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,73.28878194635564,,,,44.72727272727273,46.54545454545455,46.54545454545455,46.54545454545455,,231.5602996826172,0.2541187256574631,149.51496249979192,73.34526510672136,73.28878194635564,

unitree_g1_pack_camera/case4/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_g1_pack_camera"
         --n_iter 11 \
         --timestep_spacing 'uniform_trailing' \
         --guidance_rescale 0.7 \
-        --perframe_ae
+        --perframe_ae \
+        --analysis_log_metrics \
+        --analysis_reference_steps 50
 } 2>&1 | tee "${res_dir}/output.log"