早停特征验证，早停不通

unitree_z1_dual_arm_cleanup_pencils/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: 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=116.0821, median=136.9002, p90=164.2210, p95=167.5451
+
+### 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=0.3540, median=0.3499, p90=0.4173, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0290, median=0.0279, p90=0.0416, p95=0.0440
+- `state_delta_mid_steps`: mean=0.0287, median=0.0276, p90=0.0415, p95=0.0440
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.5000, median=46.5000, p90=46.5000, p95=46.5000
+- `oracle_budget_state`: mean=47.3750, median=47.3750, p90=47.3750, p95=47.3750
+- `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=252.5237, median=253.4787, p90=261.2025, p95=264.1173
+- `action_drift_vs_prev_round`: mean=0.7196, median=0.7119, p90=0.9656, p95=1.0833
+- `round_total_time_s`: mean=150.3981, median=150.4490, p90=151.9224, p95=152.0112
+- `policy_pass_total_time_s`: mean=73.8629, median=74.0025, p90=74.5856, p95=74.7925
+- `world_model_pass_total_time_s`: mean=73.6713, median=73.7090, p90=74.1184, p95=74.2374
+

unitree_z1_dual_arm_cleanup_pencils/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
+unitree_z1_dual_arm_cleanup_pencils,policy,73.86289298534393,73.86289298534393,,,,,,,,,,,44.75,44.75,,46.5,46.5,,46.5,46.5,,47.5,47.5,,150.39811876416206,150.39811876416206,,73.86289298534393,73.86289298534393,,73.67131742835045,73.67131742835045,,252.52374049595423,252.52374049595423,,0.7196291791541236,0.7196291791541236,
+unitree_z1_dual_arm_cleanup_pencils,world_model,73.67131742835045,73.67131742835045,,,,,,,,,,,44.875,44.875,,46.625,46.625,,46.625,46.625,,47.375,47.375,,150.39811876416206,150.39811876416206,,73.86289298534393,73.86289298534393,,73.67131742835045,73.67131742835045,,252.52374049595423,252.52374049595423,,0.7196291791541236,0.7196291791541236,

unitree_z1_dual_arm_cleanup_pencils/case3/output/inference/analysis/step_aggregate.csv

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unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --n_iter 8 \
         --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"