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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