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"