早停特征验证，早停不通

2026-03-15 12:41:53 +08:00
parent db9cc5766d
commit 7e45eba18b
227 changed files with 24579 additions and 163 deletions
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/budget_distribution.png
+++ b/unitree_g1_pack_camera/case3/output/inference/analysis/budget_distribution.png
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/convergence_curves.png
+++ b/unitree_g1_pack_camera/case3/output/inference/analysis/convergence_curves.png
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/midstep_latent_delta.png
+++ b/unitree_g1_pack_camera/case3/output/inference/analysis/midstep_latent_delta.png
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/round_reuse.png
+++ b/unitree_g1_pack_camera/case3/output/inference/analysis/round_reuse.png
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/scene_summary.csv
+++ b/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
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+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,
--- a/unitree_g1_pack_camera/case3/output/inference/analysis/step_aggregate.csv
+++ b/unitree_g1_pack_camera/case3/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,48,1.3910502953962847,1.4627628326416016,0.2319554021951319,0.14953668144616208,0.1492391377687454,0.0010335816728866416,0.08014944602142676,0.0796511098742485,0.005092453726361779,0.07987065748734902,0.0776736214756965,0.0069555070170309605,0.9843516566536643,0.9842669367790222,0.002386530317992733,0.9830300320278514,0.9840595722198486,0.0032879741632763707,22.524729295210406,22.64668846130371,1.3865496963055841
+world_model,49,1.394185109571977,1.4651310443878174,0.23014187168674302,0.13735197755423456,0.1375972926616668,0.001190005738145348,0.0817304903810674,0.0838558226823806,0.005614900667317128,0.0799507004293528,0.0789465606212616,0.00683753993571891,0.9953602010553534,0.9953088164329528,0.0007703843441456976,0.99452528628436,0.9947948455810548,0.0011420244573810449,15.268142700195312,15.346698760986328,0.95061216057606
+world_model,50,1.3988349654457786,1.4692156314849854,0.2322583024738879,0.11424645578319371,0.1143975555896759,0.0020879029661737196,0.0990189205516468,0.1001605242490768,0.007705735583356467,0.10550027137452901,0.1046335324645042,0.010376522856520558,0.9999999891627919,1.0,6.429670929923101e-08,0.9999999729069796,1.0,7.233379796249756e-08,0.0,0.0,0.0
--- a/unitree_g1_pack_camera/case3/output/inference/round_summary.csv
+++ b/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,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,10,74.76077079772949,74.81333827972412,152.70444345474243,124.39263153076172,0.005869686603546143,
--- a/unitree_g1_pack_camera/case3/output/inference/sample_summary.csv
+++ b/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,
--- a/unitree_g1_pack_camera/case3/output/inference/stepwise_log.csv
+++ b/unitree_g1_pack_camera/case3/output/inference/stepwise_log.csv
--- a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh
+++ b/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"