早停特征验证，早停不通

unitree_z1_dual_arm_cleanup_pencils/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: 800
+- Sample rows: 2
+- Round rows: 8
+- Scenes: unitree_z1_dual_arm_cleanup_pencils
+- 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=116.1877, median=137.0989, p90=163.0532, p95=167.3646
+
+### 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=46.5000, median=46.5000, p90=46.5000, p95=46.5000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3542, median=0.3501, p90=0.4173, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0295, median=0.0283, p90=0.0414, p95=0.0439
+- `state_delta_mid_steps`: mean=0.0287, median=0.0276, p90=0.0404, p95=0.0427
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.5000, median=46.5000, p90=46.5000, p95=46.5000
+- `oracle_budget_state`: mean=47.1250, median=47.1250, p90=47.1250, p95=47.1250
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.5000, median=46.5000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=242.4520, median=230.2455, p90=269.5033, p95=273.0074
+- `action_drift_vs_prev_round`: mean=0.6782, median=0.6411, p90=0.9664, p95=0.9760
+- `round_total_time_s`: mean=146.9209, median=150.5785, p90=151.7969, p95=152.0286
+- `policy_pass_total_time_s`: mean=70.4979, median=73.9005, p90=74.3969, p95=74.5318
+- `world_model_pass_total_time_s`: mean=73.7692, median=74.0447, p90=74.5227, p95=74.5574
+

unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/scene_summary.csv

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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,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+unitree_z1_dual_arm_cleanup_pencils,policy,70.49793663620949,70.49793663620949,,,,,,,,,,,44.25,44.25,,46.5,46.5,,46.5,46.5,,47.125,47.125,,146.92093321681023,146.92093321681023,,70.49793663620949,70.49793663620949,,73.76916161179543,73.76916161179543,,242.45204162597656,242.45204162597656,,0.6781738067844084,0.6781738067844084,
+unitree_z1_dual_arm_cleanup_pencils,world_model,73.76916161179543,73.76916161179543,,,,,,,,,,,44.625,44.625,,46.5,46.5,,46.5,46.5,,47.125,47.125,,146.92093321681023,146.92093321681023,,70.49793663620949,70.49793663620949,,73.76916161179543,73.76916161179543,,242.45204162597656,242.45204162597656,,0.6781738067844084,0.6781738067844084,

unitree_z1_dual_arm_cleanup_pencils/case1/output/inference/analysis/step_aggregate.csv

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