早停特征验证，早停不通

2026-03-15 12:41:53 +08:00
parent db9cc5766d
commit 7e45eba18b
227 changed files with 24579 additions and 163 deletions
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/analysis_report.md
+++ b/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
+
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/budget_distribution.png
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/budget_distribution.png
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/convergence_curves.png
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/convergence_curves.png
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/midstep_latent_delta.png
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/midstep_latent_delta.png
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/round_reuse.png
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/round_reuse.png
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/scene_summary.csv
+++ b/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
+,,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,74.20922909464154,74.20922909464154,,,,,,,,,,,45.42857142857143,45.42857142857143,,47.0,47.0,,47.0,47.0,,47.85714285714285,47.85714285714285,,150.96279420171464,150.96279420171464,,74.20922909464154,74.20922909464154,,74.14379259518215,74.14379259518215,,181.70514170328772,181.70514170328772,,0.489951675136884,0.489951675136884,
+unitree_z1_dual_arm_stackbox,world_model,74.14379259518215,74.14379259518215,,,,,,,,,,,45.57142857142857,45.57142857142857,,47.142857142857146,47.142857142857146,,47.142857142857146,47.142857142857146,,47.71428571428572,47.71428571428572,,150.96279420171464,150.96279420171464,,74.20922909464154,74.20922909464154,,74.14379259518215,74.14379259518215,,181.70514170328772,181.70514170328772,,0.489951675136884,0.489951675136884,
--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/step_aggregate.csv
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
+pass_type,step,step_time_s,step_time_s,step_time_s,latent_delta,latent_delta,latent_delta,action_delta,action_delta,action_delta,state_delta,state_delta,state_delta,action_cosine_vs_full50,action_cosine_vs_full50,action_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/round_summary.csv
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/round_summary.csv
@@ -0,0 +1,8 @@
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--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/sample_summary.csv
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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--- a/unitree_z1_dual_arm_stackbox/case3/output/inference/stepwise_log.csv
+++ b/unitree_z1_dual_arm_stackbox/case3/output/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
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--- a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh
+++ b/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"