早停特征验证，早停不通

unitree_z1_dual_arm_stackbox/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: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- 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=115.2143, median=137.1965, p90=159.5011, p95=163.5747
+
+### 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3535, median=0.3495, p90=0.4168, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0288, median=0.0275, p90=0.0422, p95=0.0447
+- `state_delta_mid_steps`: mean=0.0286, median=0.0274, p90=0.0428, p95=0.0451
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_state`: mean=47.5714, median=47.5714, p90=47.5714, p95=47.5714
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.0000, median=47.0000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=200.3434, median=201.0335, p90=212.8264, p95=213.8231
+- `action_drift_vs_prev_round`: mean=0.3645, median=0.3807, p90=0.4751, p95=0.4780
+- `round_total_time_s`: mean=150.7918, median=150.8132, p90=151.4651, p95=151.4691
+- `policy_pass_total_time_s`: mean=74.0397, median=73.9827, p90=74.7022, p95=74.8505
+- `world_model_pass_total_time_s`: mean=73.8573, median=73.8913, p90=74.3682, p95=74.4975
+

unitree_z1_dual_arm_stackbox/case1/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_stackbox,policy,74.03973456791469,74.03973456791469,,,,,,,,,,,45.285714285714285,45.285714285714285,,47.0,47.0,,47.0,47.0,,47.71428571428572,47.71428571428572,,150.7918037346431,150.7918037346431,,74.03973456791469,74.03973456791469,,73.85734697750637,73.85734697750637,,200.34344482421875,200.34344482421875,,0.3644731740156809,0.3644731740156809,
+unitree_z1_dual_arm_stackbox,world_model,73.85734697750637,73.85734697750637,,,,,,,,,,,45.57142857142857,45.57142857142857,,47.142857142857146,47.142857142857146,,47.142857142857146,47.142857142857146,,47.57142857142857,47.57142857142857,,150.7918037346431,150.7918037346431,,74.03973456791469,74.03973456791469,,73.85734697750637,73.85734697750637,,200.34344482421875,200.34344482421875,,0.3644731740156809,0.3644731740156809,

unitree_z1_dual_arm_stackbox/case1/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_dual_arm_stackbox/case1/output/inference/sample_summary.csv

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unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox"
         --n_iter 7 \
         --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"

unitree_z1_dual_arm_stackbox/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: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- 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=113.8990, median=135.0030, p90=158.2421, p95=162.7014
+
+### 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=47.2857, median=47.2857, p90=47.2857, p95=47.2857
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3535, median=0.3494, p90=0.4169, p95=0.4275
+- `action_delta_mid_steps`: mean=0.0291, median=0.0277, p90=0.0426, p95=0.0452
+- `state_delta_mid_steps`: mean=0.0288, median=0.0276, p90=0.0429, p95=0.0452
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.2857, median=47.2857, p90=47.2857, p95=47.2857
+- `oracle_budget_state`: mean=47.7143, median=47.7143, p90=47.7143, p95=47.7143
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.2857, median=47.2857, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=198.3109, median=205.6550, p90=219.7973, p95=220.2526
+- `action_drift_vs_prev_round`: mean=0.3546, median=0.3303, p90=0.6050, p95=0.6168
+- `round_total_time_s`: mean=150.3876, median=150.5737, p90=150.9962, p95=151.0447
+- `policy_pass_total_time_s`: mean=73.9437, median=73.8516, p90=74.3797, p95=74.4647
+- `world_model_pass_total_time_s`: mean=73.7114, median=73.6924, p90=74.2718, p95=74.4230
+

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unitree_z1_dual_arm_stackbox/case2/output/inference/stepwise_log.csv

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unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox"
         --n_iter 7 \
         --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"

unitree_z1_dual_arm_stackbox/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: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- 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=112.3813, median=135.1331, p90=154.5931, p95=157.6176
+
+### 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3535, median=0.3494, p90=0.4170, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0295, median=0.0282, p90=0.0433, p95=0.0460
+- `state_delta_mid_steps`: mean=0.0287, median=0.0272, p90=0.0429, p95=0.0453
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_state`: mean=47.7143, median=47.7143, p90=47.7143, p95=47.7143
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.0000, median=47.0000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=181.7051, median=182.1899, p90=195.8553, p95=196.1498
+- `action_drift_vs_prev_round`: mean=0.4900, median=0.4437, p90=0.7065, p95=0.7268
+- `round_total_time_s`: mean=150.9628, median=151.0463, p90=151.7665, p95=151.8257
+- `policy_pass_total_time_s`: mean=74.2092, median=74.4347, p90=74.7800, p95=74.8962
+- `world_model_pass_total_time_s`: mean=74.1438, median=74.0657, p90=74.5693, p95=74.6264
+

unitree_z1_dual_arm_stackbox/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
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unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox"
         --n_iter 7 \
         --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"

unitree_z1_dual_arm_stackbox/case4/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: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- 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=113.2184, median=134.1631, p90=158.0435, p95=163.5070
+
+### 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3493, p90=0.4169, p95=0.4275
+- `action_delta_mid_steps`: mean=0.0293, median=0.0277, p90=0.0427, p95=0.0449
+- `state_delta_mid_steps`: mean=0.0290, median=0.0277, p90=0.0432, p95=0.0456
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_state`: mean=47.8571, median=47.8571, p90=47.8571, p95=47.8571
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.0000, median=47.0000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.8959, median=195.1117, p90=222.9870, p95=223.5199
+- `action_drift_vs_prev_round`: mean=0.4072, median=0.3510, p90=0.7352, p95=0.8738
+- `round_total_time_s`: mean=151.5982, median=151.9227, p90=152.3078, p95=152.4732
+- `policy_pass_total_time_s`: mean=74.7379, median=74.7929, p90=75.1819, p95=75.3794
+- `world_model_pass_total_time_s`: mean=74.7925, median=74.8103, p90=74.8780, p95=74.8798
+

unitree_z1_dual_arm_stackbox/case4/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_stackbox,policy,74.73792583601815,74.73792583601815,,,,,,,,,,,45.42857142857143,45.42857142857143,,47.0,47.0,,47.0,47.0,,48.0,48.0,,151.59822961262293,151.59822961262293,,74.73792583601815,74.73792583601815,,74.79249835014343,74.79249835014343,,195.8958511352539,195.8958511352539,,0.4071817758182685,0.4071817758182685,
+unitree_z1_dual_arm_stackbox,world_model,74.79249835014343,74.79249835014343,,,,,,,,,,,45.42857142857143,45.42857142857143,,47.0,47.0,,47.0,47.0,,47.85714285714285,47.85714285714285,,151.59822961262293,151.59822961262293,,74.73792583601815,74.73792583601815,,74.79249835014343,74.79249835014343,,195.8958511352539,195.8958511352539,,0.4071817758182685,0.4071817758182685,

unitree_z1_dual_arm_stackbox/case4/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox"
         --n_iter 7 \
         --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"