早停特征验证，早停不通

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

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unitree_z1_dual_arm_stackbox/case4/output/inference/sample_summary.csv

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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"