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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