早停特征验证，早停不通

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 @@
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+,,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
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+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

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+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"