早停特征验证，早停不通

unitree_z1_dual_arm_stackbox_v2/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=115.3841, median=133.9318, p90=165.2995, p95=170.9584
+
+### 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=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3546, median=0.3503, p90=0.4175, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0296, median=0.0283, p90=0.0418, p95=0.0442
+- `state_delta_mid_steps`: mean=0.0289, median=0.0279, p90=0.0409, p95=0.0429
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=46.7273, median=46.7273, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=217.7416, median=216.6887, p90=237.5494, p95=239.4683
+- `action_drift_vs_prev_round`: mean=0.4564, median=0.4901, p90=0.7203, p95=0.7818
+- `round_total_time_s`: mean=148.7423, median=151.0665, p90=152.2238, p95=152.3961
+- `policy_pass_total_time_s`: mean=73.0246, median=73.9912, p90=74.2845, p95=74.5840
+- `world_model_pass_total_time_s`: mean=72.7747, median=73.9810, p90=74.3564, p95=74.5637
+

unitree_z1_dual_arm_stackbox_v2/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_v2,policy,73.02464760433544,73.02464760433544,,,,,,,,,,,44.81818181818182,44.81818181818182,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,47.09090909090909,47.09090909090909,,148.7423359264027,148.7423359264027,,73.02464760433544,73.02464760433544,,72.77468930591236,72.77468930591236,,217.7416015625,217.7416015625,,0.4563556969165802,0.4563556969165802,
+unitree_z1_dual_arm_stackbox_v2,world_model,72.77468930591236,72.77468930591236,,,,,,,,,,,44.54545454545455,44.54545454545455,,46.54545454545455,46.54545454545455,,46.54545454545455,46.54545454545455,,47.0,47.0,,148.7423359264027,148.7423359264027,,73.02464760433544,73.02464760433544,,72.77468930591236,72.77468930591236,,217.7416015625,217.7416015625,,0.4563556969165802,0.4563556969165802,

unitree_z1_dual_arm_stackbox_v2/case1/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
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unitree_z1_dual_arm_stackbox_v2/case1/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,0,74.88350486755371,74.35637927055359,152.5683147907257,,,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,1,74.24540996551514,74.10162949562073,151.47687649726868,241.38726806640625,0.5436584949493408,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,2,74.26002216339111,73.64054822921753,151.04580760002136,230.69891357421875,0.6832677721977234,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,3,74.28446388244629,74.77109122276306,152.22380757331848,216.44525146484375,0.6360357105731964,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,4,73.99116706848145,73.93824672698975,151.0664541721344,199.93466186523438,0.8432357907295227,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,5,74.00430560112,73.9810402393341,151.50274515151978,237.1230010986328,0.4102427363395691,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,6,73.85661292076111,74.12104940414429,151.12560153007507,196.59230041503906,0.04174208641052246,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,7,72.59897541999817,70.17872881889343,145.42494869232178,228.10435485839844,0.7066046893596649,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,8,69.20139622688293,68.62133979797363,141.27333211898804,214.8792724609375,0.17930233478546143,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,9,68.57795023918152,68.61286950111389,138.92209458351135,216.93212890625,0.43656957149505615,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,10,73.3673152923584,74.198659658432,149.53571248054504,195.31886291503906,0.08289778232574463,

unitree_z1_dual_arm_stackbox_v2/case1/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,73.02464760433544,,,,44.81818181818182,46.72727272727273,46.72727272727273,47.09090909090909,,217.7416015625,0.4563556969165802,148.7423359264027,73.02464760433544,72.77468930591236,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,72.77468930591236,,,,44.54545454545455,46.54545454545455,46.54545454545455,47.0,,217.7416015625,0.4563556969165802,148.7423359264027,73.02464760433544,72.77468930591236,

unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --n_iter 11 \
         --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_v2/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=118.7316, median=137.9685, p90=170.7073, p95=174.8611
+
+### 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=46.9091, median=46.9091, p90=46.9091, p95=46.9091
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3546, median=0.3504, p90=0.4174, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0290, median=0.0278, p90=0.0416, p95=0.0443
+- `state_delta_mid_steps`: mean=0.0284, median=0.0273, p90=0.0412, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.9091, median=46.9091, p90=46.9091, p95=46.9091
+- `oracle_budget_state`: mean=47.4545, median=47.4545, p90=47.4545, p95=47.4545
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=46.9091, median=46.9091, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=226.1883, median=228.6719, p90=242.4288, p95=254.4791
+- `action_drift_vs_prev_round`: mean=0.4891, median=0.4721, p90=0.7176, p95=0.7504
+- `round_total_time_s`: mean=151.4209, median=151.3084, p90=152.7427, p95=152.7865
+- `policy_pass_total_time_s`: mean=74.2822, median=74.3371, p90=74.8492, p95=75.0346
+- `world_model_pass_total_time_s`: mean=74.2352, median=74.1869, p90=74.7183, p95=74.7818
+

unitree_z1_dual_arm_stackbox_v2/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_v2,policy,74.28224678473039,74.28224678473039,,,,,,,,,,,45.0,45.0,,46.90909090909091,46.90909090909091,,46.90909090909091,46.90909090909091,,47.45454545454545,47.45454545454545,,151.42088755694303,151.42088755694303,,74.28224678473039,74.28224678473039,,74.23518200354142,74.23518200354142,,226.18833923339844,226.18833923339844,,0.4891243100166321,0.4891243100166321,
+unitree_z1_dual_arm_stackbox_v2,world_model,74.23518200354142,74.23518200354142,,,,,,,,,,,45.0,45.0,,46.90909090909091,46.90909090909091,,46.90909090909091,46.90909090909091,,47.45454545454545,47.45454545454545,,151.42088755694303,151.42088755694303,,74.28224678473039,74.28224678473039,,74.23518200354142,74.23518200354142,,226.18833923339844,226.18833923339844,,0.4891243100166321,0.4891243100166321,

unitree_z1_dual_arm_stackbox_v2/case2/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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+world_model,40,1.4656626311215488,1.468216896057129,0.008094625719901227,0.23714911124923008,0.2375716269016266,0.0012984703715641446,0.05819763649593695,0.0580393373966217,0.004169549037637724,0.05796179649504743,0.0585017129778862,0.002537342557119854,0.7417558594183489,0.7449128031730652,0.04113134902005747,0.7101274999705228,0.7068566679954529,0.03499964623068352,68.81868466463956,67.85173797607422,2.4252407325686596
+world_model,41,1.4657376246018843,1.4683499336242676,0.008476276939689106,0.227502091364427,0.2279461920261383,0.0011728246685595123,0.06339088962836693,0.0631133913993835,0.004800832367813677,0.06263037025928493,0.0626027062535286,0.0029461774727978975,0.7765740643848072,0.7790505290031433,0.03726340596118692,0.743860358541662,0.7396740913391113,0.03279285525422583,62.42207856611772,61.5762825012207,2.3831662328993044
+world_model,42,1.4678402597253972,1.469064474105835,0.004465139299180413,0.21746944568373935,0.2177585065364837,0.001244870820629068,0.06497555971145624,0.0647070184350013,0.005200539842419017,0.06578913601962,0.0653391405940055,0.003432843351139411,0.8109070387753573,0.8121354579925537,0.03307890894514463,0.7783809683539651,0.7740507125854492,0.03024816733000485,55.87849981134588,55.1705436706543,2.346919915565937
+world_model,43,1.4443720687519421,1.4672737121582031,0.07129610996229563,0.20718322965231806,0.2071883231401443,0.0010477648781601647,0.06796628101305525,0.0676652193069458,0.005759638856910739,0.06987402621995314,0.0696400925517082,0.004106299223593772,0.844946796243841,0.8451690673828125,0.0283845681568534,0.8137255961244757,0.8136218190193176,0.027299422612671598,49.48209762573242,48.66407012939453,2.2153266019775124
+world_model,44,1.4514106837185947,1.4658203125,0.03134589434588584,0.19712146168405356,0.1974535137414932,0.0010965085516072232,0.07049675963141698,0.070372886955738,0.0062194444203750275,0.07427283782850609,0.0745405182242393,0.004877326217333199,0.8777332414280284,0.8771377205848694,0.02341329713269667,0.8492452935738997,0.8528174161911011,0.023894531367096784,43.04621540416371,42.34357833862305,2.1423519221689604
+world_model,45,1.4500575282356956,1.468209743499756,0.03962898484577625,0.18668674338947638,0.1864484846591949,0.000968462070283578,0.07391363009810444,0.074265718460083,0.006761380028273703,0.07751981914043424,0.0780320093035698,0.005603117166053573,0.9088689955798063,0.9077378511428832,0.018278231326962303,0.8836815519766374,0.8890122771263123,0.02010793897251243,36.62808470292525,35.90607833862305,1.9816009704235606
+world_model,46,1.4556613835421475,1.4670789241790771,0.035387331694331954,0.17640998688611115,0.1763234585523605,0.0011111885624149112,0.07635975493626157,0.0768783092498779,0.007174778722147219,0.08317135884003203,0.0839361026883125,0.006669729143125133,0.9369614882902666,0.9365039467811584,0.013301165850118243,0.9168761806054548,0.921261727809906,0.015705120640892318,30.258521686900746,29.551759719848636,1.9012416733578965
+world_model,47,1.456791964444247,1.4691858291625977,0.03723410531144053,0.1658857559615915,0.1660345494747162,0.0011104922755886984,0.0807388682257045,0.0819627493619918,0.008086050017690315,0.08989417349750341,0.0894843637943267,0.008286024433008592,0.9615512056784197,0.9613606929779052,0.008474755240633411,0.9474832469766791,0.9502413868904114,0.010815034381875793,24.009561365300957,23.342449188232425,1.751108712748188
+world_model,48,1.461487184871327,1.4687750339508057,0.017448188906749217,0.15535629202019083,0.1552065461874008,0.0010916877109525527,0.08411335132338779,0.0864922404289245,0.008777709081607417,0.09620924903587857,0.0950576514005661,0.009889021284496107,0.9810501662167636,0.9806734323501588,0.004379013264114649,0.9731585545973345,0.9743982553482056,0.005997294545112445,17.87169213728471,17.042600631713867,1.5925881351925588
+world_model,49,1.439285776831887,1.4686064720153809,0.08111193982246229,0.14401469176465811,0.1437372714281082,0.0010861799849853691,0.08727464418519622,0.0875521078705787,0.009703750657657223,0.09939324449409134,0.0972060933709144,0.010858755528870934,0.9941954775290056,0.9940271973609924,0.001403210363609152,0.9910382736812938,0.9913399815559388,0.002196394265410126,11.759381814436479,11.203801155090332,1.1617892420887215
+world_model,50,1.4507160837000066,1.4670040607452393,0.04265229057449347,0.1237343075600537,0.1239204481244087,0.0020395720706350385,0.10715137557549906,0.1092424690723419,0.013189761603098305,0.1331728331067345,0.1313295215368271,0.016344083089854574,1.0000000270930203,1.0,1.0782885953654517e-07,0.9999999945813959,1.0,7.277893323773814e-08,0.0,0.0,0.0

unitree_z1_dual_arm_stackbox_v2/case2/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,0,75.2199866771698,74.7182936668396,152.74269771575928,,,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,1,74.00130152702332,74.17535519599915,151.2454628944397,235.9279327392578,0.7103498876094818,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,2,74.39367580413818,74.10200953483582,150.5736916065216,266.5294189453125,0.7832576632499695,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,3,74.19195032119751,74.18692517280579,151.52474284172058,225.79745483398438,0.6490676701068878,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,4,73.94189381599426,73.354647397995,150.4540731906891,239.75100708007812,0.4762617349624634,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,5,74.84601140022278,74.37709164619446,151.15113830566406,198.6431427001953,0.46798014640808105,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,6,73.28874897956848,74.32376432418823,150.74406003952026,233.21444702148438,0.4405097961425781,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,7,74.37222957611084,73.9946346282959,151.4945991039276,213.9320526123047,0.37685537338256836,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,8,73.66262292861938,74.50963377952576,151.30839157104492,231.5462646484375,0.49975353479385376,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,9,74.33709526062012,73.99943161010742,151.56067204475403,205.0883331298828,0.29087895154953003,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,10,74.84919834136963,74.84521508216858,152.83023381233215,211.45333862304688,0.19632834196090698,

unitree_z1_dual_arm_stackbox_v2/case2/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,74.28224678473039,,,,45.0,46.90909090909091,46.90909090909091,47.45454545454545,,226.18833923339844,0.4891243100166321,151.42088755694303,74.28224678473039,74.23518200354142,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,74.23518200354142,,,,45.0,46.90909090909091,46.90909090909091,47.45454545454545,,226.18833923339844,0.4891243100166321,151.42088755694303,74.28224678473039,74.23518200354142,

unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --n_iter 11 \
         --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_v2/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=116.2851, median=134.3071, p90=168.8894, p95=174.8168
+
+### 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=46.9091, median=46.9091, p90=46.9091, p95=46.9091
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3545, median=0.3503, p90=0.4175, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0290, median=0.0277, p90=0.0417, p95=0.0443
+- `state_delta_mid_steps`: mean=0.0287, median=0.0275, p90=0.0417, p95=0.0443
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.9091, median=46.9091, p90=46.9091, p95=46.9091
+- `oracle_budget_state`: mean=47.6364, median=47.6364, p90=47.6364, p95=47.6364
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=46.9091, median=46.9091, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=227.9598, median=233.8459, p90=250.2165, p95=255.9826
+- `action_drift_vs_prev_round`: mean=0.4868, median=0.4126, p90=0.6674, p95=0.9804
+- `round_total_time_s`: mean=140.5751, median=151.4169, p90=152.5972, p95=152.6533
+- `policy_pass_total_time_s`: mean=67.0460, median=74.6652, p90=74.8384, p95=75.0009
+- `world_model_pass_total_time_s`: mean=71.0145, median=74.6416, p90=74.7811, p95=74.7882
+

unitree_z1_dual_arm_stackbox_v2/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_v2,policy,67.0459744496779,67.0459744496779,,,,,,,,,,,44.90909090909091,44.90909090909091,,46.90909090909091,46.90909090909091,,46.90909090909091,46.90909090909091,,47.45454545454545,47.45454545454545,,140.57507241855967,140.57507241855967,,67.0459744496779,67.0459744496779,,71.01446437835693,71.01446437835693,,227.9598373413086,227.9598373413086,,0.4868394315242767,0.4868394315242767,
+unitree_z1_dual_arm_stackbox_v2,world_model,71.01446437835693,71.01446437835693,,,,,,,,,,,45.27272727272727,45.27272727272727,,47.18181818181818,47.18181818181818,,47.18181818181818,47.18181818181818,,47.63636363636363,47.63636363636363,,140.57507241855967,140.57507241855967,,67.0459744496779,67.0459744496779,,71.01446437835693,71.01446437835693,,227.9598373413086,227.9598373413086,,0.4868394315242767,0.4868394315242767,

unitree_z1_dual_arm_stackbox_v2/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
+policy,1,1.356332085349343,1.4636142253875732,0.27522257597072763,1.4148815978657117,1.4147272109985352,0.001801802376748799,0.09622962637381118,0.092702642083168,0.019154718028103025,0.07154216989874836,0.0727485939860344,0.008484492470756368,0.13406611572612412,0.1242976784706115,0.060196881406913184,0.11695720898834137,0.1182469725608825,0.0954669451347601,170.5986952348189,171.30569458007812,10.632690022408033
+policy,2,1.3297382484782825,1.466102123260498,0.30117757811534,1.0217533761804753,1.022105097770691,0.001837627068205438,0.05299588428302238,0.0535603202879428,0.004861577570546199,0.04308192770589477,0.0437495522201061,0.004362096071518324,0.12717237458987665,0.1147225573658943,0.06050479486145249,0.11209233850240706,0.1143181324005127,0.0945836049900399,170.0083992697976,169.88465881347656,10.899431200611204
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unitree_z1_dual_arm_stackbox_v2/case3/output/inference/round_summary.csv

@@ -0,0 +1,12 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,0,75.1633813381195,74.65845823287964,151.8011167049408,,,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,1,74.6067202091217,74.65105175971985,150.01570415496826,233.27032470703125,0.4512166380882263,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,2,74.4969174861908,74.46240496635437,152.0778684616089,261.7488098144531,1.2934715449810028,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,3,74.80022644996643,74.64163494110107,151.41685676574707,228.61148071289062,0.3783820867538452,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,4,74.77430438995361,74.79531192779541,152.70952463150024,248.9351043701172,0.5713053643703461,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,5,74.6652364730835,74.78112602233887,152.597163438797,234.60574340820312,0.4352157711982727,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,6,74.83838105201721,56.818671226501465,133.00533390045166,248.71990966796875,0.35976648330688477,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,7,35.694902420043945,74.50677466392517,112.90221834182739,234.4214630126953,0.5978178381919861,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,8,74.69011640548706,74.7621967792511,152.42017436027527,205.3888397216797,0.34658968448638916,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,9,48.9313759803772,55.18583917617798,107.54401159286499,179.24655151367188,0.04471546411514282,
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unitree_z1_dual_arm_stackbox_v2/case3/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,67.0459744496779,,,,44.90909090909091,46.90909090909091,46.90909090909091,47.45454545454545,,227.9598373413086,0.4868394315242767,140.57507241855967,67.0459744496779,71.01446437835693,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,71.01446437835693,,,,45.27272727272727,47.18181818181818,47.18181818181818,47.63636363636363,,227.9598373413086,0.4868394315242767,140.57507241855967,67.0459744496779,71.01446437835693,

unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --n_iter 11 \
         --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_v2/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=115.6712, median=134.2763, p90=166.3884, p95=174.0037
+
+### 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=47.0909, median=47.0909, p90=47.0909, p95=47.0909
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3546, median=0.3505, p90=0.4174, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0288, median=0.0273, p90=0.0416, p95=0.0447
+- `state_delta_mid_steps`: mean=0.0284, median=0.0272, p90=0.0414, p95=0.0438
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0909, median=47.0909, p90=47.0909, p95=47.0909
+- `oracle_budget_state`: mean=47.7273, median=47.7273, p90=47.7273, p95=47.7273
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=47.0909, median=47.0909, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=214.9619, median=217.4846, p90=247.1412, p95=249.8296
+- `action_drift_vs_prev_round`: mean=0.4435, median=0.4376, p90=0.6998, p95=0.7873
+- `round_total_time_s`: mean=148.7402, median=149.0590, p90=149.9180, p95=150.7287
+- `policy_pass_total_time_s`: mean=73.7180, median=73.7583, p90=74.2213, p95=74.5731
+- `world_model_pass_total_time_s`: mean=72.7458, median=73.1964, p90=73.8909, p95=73.9074
+

unitree_z1_dual_arm_stackbox_v2/case4/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
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+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,6,73.61266303062439,72.48553967475891,149.21961116790771,224.94631958007812,0.680397093296051,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,7,73.98595118522644,73.89092016220093,149.8288562297821,210.02279663085938,0.5641175508499146,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,8,73.28098225593567,73.19638013839722,148.46980357170105,189.51605224609375,0.41241657733917236,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,9,73.5044481754303,71.65871787071228,148.3517608642578,197.29632568359375,0.2582865357398987,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,10,74.22125482559204,68.95462584495544,143.91422152519226,173.0809783935547,0.09770435094833374,

unitree_z1_dual_arm_stackbox_v2/case4/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,73.71795095096935,,,,45.09090909090909,47.09090909090909,47.09090909090909,47.63636363636363,,214.96192626953126,0.44353927075862887,148.74021928960627,73.71795095096935,72.74579028649764,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,72.74579028649764,,,,45.27272727272727,47.09090909090909,47.09090909090909,47.72727272727273,,214.96192626953126,0.44353927075862887,148.74021928960627,73.71795095096935,72.74579028649764,

unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --n_iter 11 \
         --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"