早停特征验证，早停不通

unitree_z1_dual_arm_cleanup_pencils/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: 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=114.6183, median=135.5744, p90=160.0172, p95=166.5222
+
+### 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=0.3500, p90=0.4173, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0291, median=0.0283, p90=0.0414, p95=0.0432
+- `state_delta_mid_steps`: mean=0.0286, median=0.0275, p90=0.0406, 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `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=242.5424, median=236.8695, p90=270.3207, p95=274.0847
+- `action_drift_vs_prev_round`: mean=0.6918, median=0.6892, p90=0.9659, p95=0.9869
+- `round_total_time_s`: mean=151.1099, median=151.1618, p90=151.8859, p95=151.9580
+- `policy_pass_total_time_s`: mean=74.3568, median=74.5224, p90=74.8165, p95=74.8505
+- `world_model_pass_total_time_s`: mean=74.3846, median=74.3322, p90=74.7877, p95=74.7988
+

unitree_z1_dual_arm_cleanup_pencils/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_z1_dual_arm_cleanup_pencils,policy,74.3567801117897,74.3567801117897,,,,,,,,,,,44.375,44.375,,46.5,46.5,,46.5,46.5,,47.125,47.125,,151.10987955331802,151.10987955331802,,74.3567801117897,74.3567801117897,,74.38460382819176,74.38460382819176,,242.54239109584265,242.54239109584265,,0.6918000605489526,0.6918000605489526,
+unitree_z1_dual_arm_cleanup_pencils,world_model,74.38460382819176,74.38460382819176,,,,,,,,,,,44.625,44.625,,46.625,46.625,,46.625,46.625,,47.0,47.0,,151.10987955331802,151.10987955331802,,74.3567801117897,74.3567801117897,,74.38460382819176,74.38460382819176,,242.54239109584265,242.54239109584265,,0.6918000605489526,0.6918000605489526,

unitree_z1_dual_arm_cleanup_pencils/case2/output/inference/analysis/step_aggregate.csv

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