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早停特征验证，早停不通

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qhy
2026-03-15 12:41:53 +08:00
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unitree_g1_pack_camera/case2/output/inference/analysis/analysis_report.md Normal file
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# 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

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unitree_g1_pack_camera/case2/output/inference/analysis/scene_summary.csv Normal file
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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,
1 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
2 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
3 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
4 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

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unitree_g1_pack_camera/case2/output/inference/analysis/step_aggregate.csv Normal file
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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
policy,1,1.4643647887490012,1.4685146808624268,0.11946496958360509,1.4148771329359575,1.4147257804870603,0.0017984101608485988,0.04281757399439806,0.0392014160752296,0.008532584867967428,0.03407446464354336,0.0336839072406291,0.005709339832039931,0.08155293779617001,0.077914148569107,0.04679852520684907,0.07369075512344185,0.0933109745383262,0.06745704605608141,170.09748008034447,171.06507873535156,10.505909113191718
policy,2,1.4541257944974033,1.4734899997711182,0.058318946913729415,1.0217632922259243,1.0221184492111206,0.0018243984267821882,0.03183789974586525,0.0312561765313148,0.0040836650740390815,0.02485884675248098,0.0250939335674047,0.0034012227624572343,0.08140638741579918,0.0768530443310737,0.04697127046684661,0.07446798606013708,0.0949154943227768,0.06698259561179119,169.23872514204547,168.94827270507812,10.557645930205437
policy,3,1.4691599932583896,1.470665693283081,0.005543378191498716,0.850593398917805,0.8505691289901733,0.0010002504677263727,0.02459242144091556,0.0238988660275936,0.005148060909606215,0.018639818849888655,0.0189135950058698,0.0026148793321467243,0.08384929055517366,0.0789375901222229,0.0470194288131813,0.07829395512288263,0.0986015349626541,0.06741940188036281,169.08106717196378,170.78274536132812,10.922710014605762
policy,4,1.4598333835601807,1.4700920581817627,0.03999101236346604,0.7504921176216819,0.7511603236198425,0.002204449431442244,0.01972710713744159,0.0199761055409908,0.00393638778985888,0.0155389210717244,0.0144460797309875,0.0029508824613728476,0.0880777879872105,0.0838154405355453,0.04698446571781875,0.0843947429887273,0.1043250784277916,0.06791345800638893,168.03258167613637,169.22280883789062,10.922582818026411
policy,5,1.4335628856312146,1.4701387882232666,0.0808474674398391,0.6826300404288552,0.6819959282875061,0.001890172866151874,0.01639852198687462,0.0156712140887975,0.002790387852083108,0.014331226067786819,0.0129353087395429,0.0034085937748645143,0.0936777947301214,0.0910099148750305,0.04711223904805821,0.09181853510778057,0.1118631586432457,0.06836859573484567,166.0841203169389,166.22369384765625,10.243451847158397
policy,6,1.4402985572814941,1.4712324142456057,0.06835911239779546,0.6330406774174083,0.6331149935722351,0.0013513106855039577,0.0151571499353105,0.0149793233722448,0.0031206323648545163,0.012832071208818345,0.0122287198901176,0.0023915636981314847,0.10016470639543094,0.0993154644966125,0.04738779037041065,0.10003195347433737,0.1204004138708114,0.06860743916320584,165.64228959517047,165.88099670410156,10.263589696848832
policy,7,1.451158111745661,1.4723591804504397,0.044411611953512946,0.594232824715701,0.593671977519989,0.0011183720417689005,0.015228892591866544,0.014497703872621,0.003513930042467193,0.012337777763605064,0.012337090447545,0.001362647107553788,0.1072305437516082,0.1087293922901153,0.04779812449365048,0.10901441539383744,0.1298665702342987,0.06866700632653792,162.61344216086647,162.01109313964844,9.965445014416865
policy,8,1.453081651167436,1.4714808464050293,0.060856995323781735,0.5634365190159191,0.5633569359779358,0.001538824837380747,0.015222255140542927,0.0144889457151293,0.0036440824929860165,0.012728041545911218,0.0126567129045724,0.0011071913735304527,0.11505048755895002,0.1191661655902862,0.04828471178990196,0.11853112077171148,0.1399197578430175,0.06863627871831689,160.31207552823153,159.6591796875,9.998474862005931
policy,9,1.4518233862790195,1.4713809490203855,0.06384766825417784,0.5371716997840188,0.5367397665977478,0.00119799520290687,0.015034105459397427,0.0141661390662193,0.0031497299872971377,0.013244852677664927,0.0129782455042004,0.0012503706354094228,0.12357755276289849,0.1302836835384369,0.04875568816050281,0.1285001942887902,0.1504424214363098,0.06854927892680253,158.74315990101206,158.91424560546875,9.334594090177877
policy,10,1.45024620402943,1.4693543910980225,0.04926523061596906,0.5157278776168823,0.5156438946723938,0.0006784788635188598,0.015083106234669656,0.0145043134689331,0.0025643355262319,0.013690607198937327,0.0135310553014278,0.0013257226314623452,0.1328831558877771,0.1421728134155273,0.048996699101949974,0.1388687498190186,0.1613283008337021,0.06845518924164967,156.9241804643111,159.1904754638672,8.110437410818491
policy,11,1.444454388184981,1.4709253311157229,0.0885492632473059,0.496602090922269,0.4962410032749176,0.0013039866938400913,0.015376358716325273,0.0151475789025425,0.002017205620873061,0.014698531732640428,0.0144659560173749,0.0013280586819555027,0.14287893541834568,0.1525715142488479,0.04904092680134504,0.14972653985023496,0.1728588342666626,0.06843626264144984,155.5454961603338,157.67005920410156,7.781809460759908
policy,12,1.4495672095905652,1.4743444919586182,0.08235753379631829,0.4801749966361306,0.4799525737762451,0.000902742483838771,0.015821124935014638,0.0156387612223625,0.0017984735074255864,0.0155477133494886,0.0153720257803797,0.0012135653508671457,0.15324927392331034,0.1628736108541488,0.04897643937871421,0.16094945540482344,0.184751346707344,0.0684884090749342,154.19762906161222,156.07546997070312,8.150938548918997
policy,13,1.4486402164806018,1.4744722843170166,0.07969306661445948,0.46393065831877967,0.4638084769248962,0.0008748368673454794,0.016626007177612954,0.01647275313735,0.0018086679872989675,0.016100792298940046,0.0161943007260561,0.0012045572244640211,0.16416988725011994,0.1732068806886673,0.04896005116781644,0.1725476736372167,0.1969069391489029,0.068478736709341,152.0845323042436,153.36557006835938,7.721437583934334
policy,14,1.4453192190690474,1.468017339706421,0.05264109303843239,0.4508701535788449,0.4505763351917267,0.0009505103780250265,0.017609759657220354,0.0175512973219156,0.0017592237890723748,0.017064232294532328,0.0170348230749368,0.001270485708400615,0.17561168088154355,0.1836914122104644,0.048965035477324795,0.18447633697227994,0.2095178365707397,0.06836240386069921,150.21925631436434,151.2340545654297,7.28035098163076
policy,15,1.4479859308762983,1.4688806533813477,0.07842091803812619,0.43892092596400867,0.4388017356395721,0.0006090699321633986,0.018392478708516416,0.018379459157586,0.0016634864046166824,0.0178374705666845,0.0178643409162759,0.0013032702419437212,0.18761804970827967,0.1929938793182373,0.048950300426178504,0.19682544266635718,0.2224430739879608,0.0681496771901637,148.9786931818182,149.8619842529297,7.183796803551464
policy,16,1.4501507932489568,1.472064971923828,0.07296202797146564,0.4266620549288663,0.4265547692775726,0.0006317364362079431,0.019098526713522943,0.0191935021430253,0.0014391345328292882,0.018909056586298028,0.0189465321600437,0.0012669991546541315,0.20013522695411334,0.2009296715259552,0.04894724949745174,0.20969889245250004,0.235941857099533,0.06796722492792714,147.64975807883522,148.93096923828125,7.028528784118946
policy,17,1.4665821682323108,1.466827392578125,0.010499568350019747,0.41590515591881494,0.416337251663208,0.0009997707025206652,0.019994667646559754,0.0201997961848974,0.001379925491732909,0.019927606325257856,0.0198932811617851,0.001317283947292341,0.2131885994564403,0.2105266749858856,0.04890426258779776,0.22302113812078125,0.2498722970485687,0.06779833250998542,146.45462868430397,148.46408081054688,6.73497239911813
policy,18,1.4712181308052756,1.474581956863403,0.007750363440223481,0.40625025738369336,0.4059191048145294,0.0010800856216576027,0.020714854652231336,0.0208488684147596,0.001384568576282785,0.02073309655216601,0.0206792298704385,0.0012687780651277735,0.2267513667995279,0.2258680015802383,0.048743387281005676,0.23679225214503025,0.2641832828521728,0.06771691137615982,145.28262329101562,147.085693359375,6.443550109193905
policy,19,1.4439404877749356,1.4710924625396729,0.06232354674563371,0.3967506912621585,0.396649420261383,0.0010050803948196772,0.022012898698449093,0.0223398562520742,0.0012621234090054861,0.021984958851879257,0.0218807458877563,0.001258675344227013,0.24069879542697556,0.2418799698352813,0.04880449050600198,0.25113794884898444,0.2790946960449219,0.06758273720249028,144.20575228604403,146.3004913330078,5.954482749653211
policy,20,1.4693304191936145,1.4748013019561768,0.011052732221516794,0.38752706484361127,0.3874090313911438,0.001034296580485665,0.022933603518388454,0.0232044085860252,0.0013018049255700318,0.0228283342651345,0.0226724166423082,0.0012637530791815457,0.25539551539854566,0.2567644119262695,0.04870047432505133,0.2658977820114656,0.2942913472652435,0.06748155620320793,142.94178355823863,144.65557861328125,5.462257314486613
policy,21,1.4739628488367253,1.475623607635498,0.004919572374213548,0.378894952210513,0.3791788518428802,0.001025993760118785,0.024044604125347955,0.0242867935448884,0.00132583235865487,0.024273770268667772,0.0241147838532924,0.0012500849623744918,0.2706766602667895,0.2709282636642456,0.048556081192350074,0.2812915945594961,0.3102010488510132,0.06739307856150614,141.88197049227628,143.0328369140625,5.328747554157212
policy,22,1.4712780605662952,1.4691743850708008,0.006864379727599383,0.3710618181662126,0.3712555766105652,0.0006692269219455867,0.025322464379397266,0.0255931634455919,0.0012715289211763724,0.02550048990683117,0.0252727624028921,0.0012870320310288282,0.28641768883575086,0.2852920591831207,0.04842803930383065,0.2973022406751459,0.3266588449478149,0.06725796773315261,140.9632929021662,142.11849975585938,5.0136914538419495
policy,23,1.4350546273318203,1.4687039852142334,0.07997943289279814,0.3633401122960177,0.3631722331047058,0.0009989748146953473,0.026672355153343843,0.027136480435729,0.0012443973114825869,0.026658307083628353,0.0263877399265766,0.0013472910980284953,0.3025903904979879,0.3030104041099548,0.048280787305788025,0.3139006414196708,0.3423101007938385,0.06703547592704566,140.0803319757635,140.9939422607422,4.593726109044367
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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
world_model,47,1.469654755158858,1.4709737300872805,0.007769724781248824,0.16010638258673923,0.1600614041090011,0.0012966500394825434,0.08285679058595133,0.0844769924879074,0.006863545761974524,0.08102578060193491,0.0780367851257324,0.008797688671217049,0.9631747061556036,0.9622058868408204,0.006266730232089634,0.9605456644838507,0.9635160565376282,0.011182164545195779,29.608858455311168,29.6239070892334,1.2430164643285884
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
world_model,49,1.457220727747137,1.469280242919922,0.04151404224735,0.13693877377293323,0.1369135230779647,0.0014810274673513729,0.0867847089063037,0.0880544632673263,0.007269835940453091,0.08469922569665038,0.0820598602294921,0.01071361606369034,0.9947437102144415,0.9946528673171996,0.0010379004615451075,0.9936651912602511,0.9938600659370422,0.0021191341731221975,15.599080952731045,15.65239715576172,0.7342403899103459
world_model,50,1.4238000999797473,1.4678013324737549,0.10173228326983626,0.11357312039895487,0.1135474145412445,0.0019848656695841483,0.10545582256533877,0.1074362099170684,0.009951494819751439,0.11208393221551717,0.1106475591659545,0.017324670043658678,1.0000000433488325,1.0,7.582174279590549e-08,1.0,1.0,8.429369702575069e-08,0.0,0.0,0.0
1 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
2 mean median std mean median std mean median std mean median std mean median std mean median std mean median std
3 policy 1 1.4643647887490012 1.4685146808624268 0.11946496958360509 1.4148771329359575 1.4147257804870603 0.0017984101608485988 0.04281757399439806 0.0392014160752296 0.008532584867967428 0.03407446464354336 0.0336839072406291 0.005709339832039931 0.08155293779617001 0.077914148569107 0.04679852520684907 0.07369075512344185 0.0933109745383262 0.06745704605608141 170.09748008034447 171.06507873535156 10.505909113191718
4 policy 2 1.4541257944974033 1.4734899997711182 0.058318946913729415 1.0217632922259243 1.0221184492111206 0.0018243984267821882 0.03183789974586525 0.0312561765313148 0.0040836650740390815 0.02485884675248098 0.0250939335674047 0.0034012227624572343 0.08140638741579918 0.0768530443310737 0.04697127046684661 0.07446798606013708 0.0949154943227768 0.06698259561179119 169.23872514204547 168.94827270507812 10.557645930205437
5 policy 3 1.4691599932583896 1.470665693283081 0.005543378191498716 0.850593398917805 0.8505691289901733 0.0010002504677263727 0.02459242144091556 0.0238988660275936 0.005148060909606215 0.018639818849888655 0.0189135950058698 0.0026148793321467243 0.08384929055517366 0.0789375901222229 0.0470194288131813 0.07829395512288263 0.0986015349626541 0.06741940188036281 169.08106717196378 170.78274536132812 10.922710014605762
6 policy 4 1.4598333835601807 1.4700920581817627 0.03999101236346604 0.7504921176216819 0.7511603236198425 0.002204449431442244 0.01972710713744159 0.0199761055409908 0.00393638778985888 0.0155389210717244 0.0144460797309875 0.0029508824613728476 0.0880777879872105 0.0838154405355453 0.04698446571781875 0.0843947429887273 0.1043250784277916 0.06791345800638893 168.03258167613637 169.22280883789062 10.922582818026411
7 policy 5 1.4335628856312146 1.4701387882232666 0.0808474674398391 0.6826300404288552 0.6819959282875061 0.001890172866151874 0.01639852198687462 0.0156712140887975 0.002790387852083108 0.014331226067786819 0.0129353087395429 0.0034085937748645143 0.0936777947301214 0.0910099148750305 0.04711223904805821 0.09181853510778057 0.1118631586432457 0.06836859573484567 166.0841203169389 166.22369384765625 10.243451847158397
8 policy 6 1.4402985572814941 1.4712324142456057 0.06835911239779546 0.6330406774174083 0.6331149935722351 0.0013513106855039577 0.0151571499353105 0.0149793233722448 0.0031206323648545163 0.012832071208818345 0.0122287198901176 0.0023915636981314847 0.10016470639543094 0.0993154644966125 0.04738779037041065 0.10003195347433737 0.1204004138708114 0.06860743916320584 165.64228959517047 165.88099670410156 10.263589696848832
9 policy 7 1.451158111745661 1.4723591804504397 0.044411611953512946 0.594232824715701 0.593671977519989 0.0011183720417689005 0.015228892591866544 0.014497703872621 0.003513930042467193 0.012337777763605064 0.012337090447545 0.001362647107553788 0.1072305437516082 0.1087293922901153 0.04779812449365048 0.10901441539383744 0.1298665702342987 0.06866700632653792 162.61344216086647 162.01109313964844 9.965445014416865
10 policy 8 1.453081651167436 1.4714808464050293 0.060856995323781735 0.5634365190159191 0.5633569359779358 0.001538824837380747 0.015222255140542927 0.0144889457151293 0.0036440824929860165 0.012728041545911218 0.0126567129045724 0.0011071913735304527 0.11505048755895002 0.1191661655902862 0.04828471178990196 0.11853112077171148 0.1399197578430175 0.06863627871831689 160.31207552823153 159.6591796875 9.998474862005931
11 policy 9 1.4518233862790195 1.4713809490203855 0.06384766825417784 0.5371716997840188 0.5367397665977478 0.00119799520290687 0.015034105459397427 0.0141661390662193 0.0031497299872971377 0.013244852677664927 0.0129782455042004 0.0012503706354094228 0.12357755276289849 0.1302836835384369 0.04875568816050281 0.1285001942887902 0.1504424214363098 0.06854927892680253 158.74315990101206 158.91424560546875 9.334594090177877
12 policy 10 1.45024620402943 1.4693543910980225 0.04926523061596906 0.5157278776168823 0.5156438946723938 0.0006784788635188598 0.015083106234669656 0.0145043134689331 0.0025643355262319 0.013690607198937327 0.0135310553014278 0.0013257226314623452 0.1328831558877771 0.1421728134155273 0.048996699101949974 0.1388687498190186 0.1613283008337021 0.06845518924164967 156.9241804643111 159.1904754638672 8.110437410818491
13 policy 11 1.444454388184981 1.4709253311157229 0.0885492632473059 0.496602090922269 0.4962410032749176 0.0013039866938400913 0.015376358716325273 0.0151475789025425 0.002017205620873061 0.014698531732640428 0.0144659560173749 0.0013280586819555027 0.14287893541834568 0.1525715142488479 0.04904092680134504 0.14972653985023496 0.1728588342666626 0.06843626264144984 155.5454961603338 157.67005920410156 7.781809460759908
14 policy 12 1.4495672095905652 1.4743444919586182 0.08235753379631829 0.4801749966361306 0.4799525737762451 0.000902742483838771 0.015821124935014638 0.0156387612223625 0.0017984735074255864 0.0155477133494886 0.0153720257803797 0.0012135653508671457 0.15324927392331034 0.1628736108541488 0.04897643937871421 0.16094945540482344 0.184751346707344 0.0684884090749342 154.19762906161222 156.07546997070312 8.150938548918997
15 policy 13 1.4486402164806018 1.4744722843170166 0.07969306661445948 0.46393065831877967 0.4638084769248962 0.0008748368673454794 0.016626007177612954 0.01647275313735 0.0018086679872989675 0.016100792298940046 0.0161943007260561 0.0012045572244640211 0.16416988725011994 0.1732068806886673 0.04896005116781644 0.1725476736372167 0.1969069391489029 0.068478736709341 152.0845323042436 153.36557006835938 7.721437583934334
16 policy 14 1.4453192190690474 1.468017339706421 0.05264109303843239 0.4508701535788449 0.4505763351917267 0.0009505103780250265 0.017609759657220354 0.0175512973219156 0.0017592237890723748 0.017064232294532328 0.0170348230749368 0.001270485708400615 0.17561168088154355 0.1836914122104644 0.048965035477324795 0.18447633697227994 0.2095178365707397 0.06836240386069921 150.21925631436434 151.2340545654297 7.28035098163076
17 policy 15 1.4479859308762983 1.4688806533813477 0.07842091803812619 0.43892092596400867 0.4388017356395721 0.0006090699321633986 0.018392478708516416 0.018379459157586 0.0016634864046166824 0.0178374705666845 0.0178643409162759 0.0013032702419437212 0.18761804970827967 0.1929938793182373 0.048950300426178504 0.19682544266635718 0.2224430739879608 0.0681496771901637 148.9786931818182 149.8619842529297 7.183796803551464
18 policy 16 1.4501507932489568 1.472064971923828 0.07296202797146564 0.4266620549288663 0.4265547692775726 0.0006317364362079431 0.019098526713522943 0.0191935021430253 0.0014391345328292882 0.018909056586298028 0.0189465321600437 0.0012669991546541315 0.20013522695411334 0.2009296715259552 0.04894724949745174 0.20969889245250004 0.235941857099533 0.06796722492792714 147.64975807883522 148.93096923828125 7.028528784118946
19 policy 17 1.4665821682323108 1.466827392578125 0.010499568350019747 0.41590515591881494 0.416337251663208 0.0009997707025206652 0.019994667646559754 0.0201997961848974 0.001379925491732909 0.019927606325257856 0.0198932811617851 0.001317283947292341 0.2131885994564403 0.2105266749858856 0.04890426258779776 0.22302113812078125 0.2498722970485687 0.06779833250998542 146.45462868430397 148.46408081054688 6.73497239911813
20 policy 18 1.4712181308052756 1.474581956863403 0.007750363440223481 0.40625025738369336 0.4059191048145294 0.0010800856216576027 0.020714854652231336 0.0208488684147596 0.001384568576282785 0.02073309655216601 0.0206792298704385 0.0012687780651277735 0.2267513667995279 0.2258680015802383 0.048743387281005676 0.23679225214503025 0.2641832828521728 0.06771691137615982 145.28262329101562 147.085693359375 6.443550109193905
21 policy 19 1.4439404877749356 1.4710924625396729 0.06232354674563371 0.3967506912621585 0.396649420261383 0.0010050803948196772 0.022012898698449093 0.0223398562520742 0.0012621234090054861 0.021984958851879257 0.0218807458877563 0.001258675344227013 0.24069879542697556 0.2418799698352813 0.04880449050600198 0.25113794884898444 0.2790946960449219 0.06758273720249028 144.20575228604403 146.3004913330078 5.954482749653211
22 policy 20 1.4693304191936145 1.4748013019561768 0.011052732221516794 0.38752706484361127 0.3874090313911438 0.001034296580485665 0.022933603518388454 0.0232044085860252 0.0013018049255700318 0.0228283342651345 0.0226724166423082 0.0012637530791815457 0.25539551539854566 0.2567644119262695 0.04870047432505133 0.2658977820114656 0.2942913472652435 0.06748155620320793 142.94178355823863 144.65557861328125 5.462257314486613
23 policy 21 1.4739628488367253 1.475623607635498 0.004919572374213548 0.378894952210513 0.3791788518428802 0.001025993760118785 0.024044604125347955 0.0242867935448884 0.00132583235865487 0.024273770268667772 0.0241147838532924 0.0012500849623744918 0.2706766602667895 0.2709282636642456 0.048556081192350074 0.2812915945594961 0.3102010488510132 0.06739307856150614 141.88197049227628 143.0328369140625 5.328747554157212
24 policy 22 1.4712780605662952 1.4691743850708008 0.006864379727599383 0.3710618181662126 0.3712555766105652 0.0006692269219455867 0.025322464379397266 0.0255931634455919 0.0012715289211763724 0.02550048990683117 0.0252727624028921 0.0012870320310288282 0.28641768883575086 0.2852920591831207 0.04842803930383065 0.2973022406751459 0.3266588449478149 0.06725796773315261 140.9632929021662 142.11849975585938 5.0136914538419495
25 policy 23 1.4350546273318203 1.4687039852142334 0.07997943289279814 0.3633401122960177 0.3631722331047058 0.0009989748146953473 0.026672355153343843 0.027136480435729 0.0012443973114825869 0.026658307083628353 0.0263877399265766 0.0013472910980284953 0.3025903904979879 0.3030104041099548 0.048280787305788025 0.3139006414196708 0.3423101007938385 0.06703547592704566 140.0803319757635 140.9939422607422 4.593726109044367
26 policy 24 1.4309492761438543 1.4715476036071775 0.0858298076934187 0.3563299693844535 0.3563564717769623 0.0008959700858330447 0.02793866802345618 0.0282828044146299 0.0014388407803073353 0.02799780582162463 0.0276559609919786 0.0014552222541383201 0.3197950368577783 0.3229982256889343 0.04783274846005909 0.33120391450145026 0.3564364314079284 0.06672903498922225 139.2905828302557 140.40904235839844 4.435610070156716
27 policy 25 1.4494194117459385 1.4702398777008057 0.07093145311155574 0.3493931158022447 0.3492731750011444 0.0009851462446976535 0.029285558414730108 0.0295346230268478 0.001505166961002917 0.02943666093051428 0.0291007291525602 0.0015311789550177448 0.33794105865738605 0.3434889912605285 0.047160371525491775 0.349244935946031 0.3712327480316162 0.06638113111553619 138.36009493741122 139.26083374023438 4.1431081850152776
28 policy 26 1.4699790261008523 1.4730641841888428 0.01345044089820449 0.34222279082645063 0.3419949114322662 0.0010486632211865125 0.030812483111565717 0.0313926599919796 0.001548341935311138 0.0306619200855493 0.0303577240556478 0.0015910381564822266 0.35674967007203534 0.3649344444274902 0.046474867806131706 0.3679815882986242 0.3865175247192383 0.06595508811603952 137.8521201393821 138.7310028076172 4.128792787821338
29 policy 27 1.468766754323786 1.4721136093139648 0.011633283159055248 0.33555776422674 0.335639089345932 0.001213625565416701 0.032442700287157795 0.0328396186232566 0.001562470976658336 0.03222530335187906 0.031873095780611 0.0016364673207481441 0.3764675611799413 0.3874861896038055 0.045751812835412776 0.38755452091043646 0.4025210440158844 0.06542703424857234 137.35802806507456 138.27166748046875 3.91192755951621
30 policy 28 1.453011079268022 1.4696829319000244 0.05923218778920788 0.32929666746746405 0.329518586397171 0.0011773860605221414 0.03402061015367503 0.0343900397419929 0.0016623573205540526 0.033716790716756435 0.0334406234323978 0.0016943412683561483 0.3970481888814406 0.4109510481357574 0.04481957298571838 0.40797183459455316 0.4191781878471374 0.06482322389922324 136.80251797762784 137.7513427734375 3.842427618704297
31 policy 29 1.4546096108176492 1.4728519916534424 0.06608759137741625 0.3229366459629752 0.322741150856018 0.0012239891389898506 0.0356819778680801 0.0359496474266052 0.0019054730060930312 0.03533605147491797 0.0348477996885776 0.001774232015556231 0.4189335730942813 0.4347765743732452 0.04373257254016122 0.42934841188517486 0.4366675019264221 0.06408464580588284 136.07441295276988 137.02008056640625 3.616032880010223
32 policy 30 1.4577914151278408 1.474189043045044 0.053860776170227574 0.31670473109592084 0.3166425228118896 0.0011014849973054641 0.03759356588125225 0.037754151970148 0.0018783720256698863 0.037365547974001226 0.036752238869667 0.0019108722852618706 0.441381879828193 0.4540104866027832 0.04289638972643966 0.45185111327604816 0.4552650451660156 0.0631586537050016 135.57533541592684 136.5150146484375 3.4262039482242024
33 policy 31 1.4538111253218218 1.4696011543273926 0.0360097670839535 0.31162824143062934 0.3117263913154602 0.0009013153305599144 0.0393330918794328 0.0392529480159282 0.0019819057134478056 0.039152730256319 0.0384356975555419 0.001969918607737662 0.4651488878510215 0.4741113483905792 0.041995091315069094 0.47539693117141724 0.4748137593269348 0.062114575384912496 129.24837285822088 129.9188232421875 3.2632438024444537
34 policy 32 1.4704401926560835 1.474531650543213 0.01075551266362713 0.30393185398795386 0.3042071461677551 0.0010586996264491486 0.04157216542146417 0.0412184819579124 0.0017972823761834788 0.04045209728858683 0.0396092012524604 0.002139237437079005 0.4897051291032271 0.4956349432468414 0.04134991595638768 0.4998013106259433 0.4950272142887115 0.06090836017505551 122.95333307439631 123.65977478027344 3.0880454472713708
35 policy 33 1.4731678745963357 1.473830223083496 0.004752219302401104 0.2957445383071899 0.2958968877792358 0.0011429464467950909 0.04347564313899382 0.0428317114710807 0.0024512506577975828 0.042609430510889355 0.0415723286569118 0.002255994799632196 0.5162798681042411 0.5207837224006653 0.04007511057883185 0.5254944102330641 0.5165548324584961 0.05949591865922783 116.75520671497692 117.48394012451172 2.9589432387265497
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100 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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102 world_model 50 1.4238000999797473 1.4678013324737549 0.10173228326983626 0.11357312039895487 0.1135474145412445 0.0019848656695841483 0.10545582256533877 0.1074362099170684 0.009951494819751439 0.11208393221551717 0.1106475591659545 0.017324670043658678 1.0000000433488325 1.0 7.582174279590549e-08 1.0 1.0 8.429369702575069e-08 0.0 0.0 0.0

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unitree_g1_pack_camera/case2/output/inference/round_summary.csv Normal file
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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,
1 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
2 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 0 75.03928279876709 73.9881739616394 152.16393160820007
3 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 1 74.23106241226196 73.55208587646484 150.9755437374115 214.81951904296875 0.24937200546264648
4 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 2 75.07349109649658 74.42506957054138 152.62019896507263 202.9042205810547 0.24527257680892944
5 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 3 73.82551193237305 74.7103636264801 150.684387922287 223.25729370117188 0.0750700831413269
6 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 4 74.71211385726929 74.36838006973267 152.22601079940796 210.7346954345703 0.241740882396698
7 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 5 73.80026388168335 74.63985013961792 151.58087468147278 266.4477844238281 0.7560845464468002
8 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 6 74.41286873817444 74.4742693901062 151.42124199867249 239.9493865966797 0.1602541208267212
9 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 7 74.38386011123657 74.27649450302124 151.78351974487305 247.0240936279297 0.13166594505310059
10 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 8 73.25273704528809 74.35415315628052 150.77343583106995 256.5118408203125 0.06467467546463013
11 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 9 74.34760189056396 73.83727645874023 151.31240582466125 256.1639709472656 0.30772316455841064
12 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 10 73.39611744880676 74.33566379547119 150.86029887199402 246.99131774902344 0.38890862464904785

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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,
1 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
2 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
3 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

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unitree_g1_pack_camera/case2/run_world_model_interaction.sh
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@@ -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"