早停特征验证，早停不通

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
+

unitree_z1_dual_arm_stackbox/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_stackbox,policy,73.94371887615749,73.94371887615749,,,,,,,,,,,45.57142857142857,45.57142857142857,,47.285714285714285,47.285714285714285,,47.285714285714285,47.285714285714285,,47.71428571428572,47.71428571428572,,150.38762974739075,150.38762974739075,,73.94371887615749,73.94371887615749,,73.71144846507481,73.71144846507481,,198.3109334309896,198.3109334309896,,0.3546396940946579,0.3546396940946579,
+unitree_z1_dual_arm_stackbox,world_model,73.71144846507481,73.71144846507481,,,,,,,,,,,45.71428571428572,45.71428571428572,,47.285714285714285,47.285714285714285,,47.285714285714285,47.285714285714285,,47.71428571428572,47.71428571428572,,150.38762974739075,150.38762974739075,,73.94371887615749,73.94371887615749,,73.71144846507481,73.71144846507481,,198.3109334309896,198.3109334309896,,0.3546396940946579,0.3546396940946579,

unitree_z1_dual_arm_stackbox/case2/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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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"