早停特征验证，早停不通

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 @@
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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,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

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+world_model,49,1.338093714280562,1.4637858867645264,0.27640644900082184,0.14417055113749067,0.143962100148201,0.0015043225066315525,0.08873935450207099,0.0838817581534385,0.011471256893219196,0.10251680151982737,0.0982310622930526,0.01872366649865847,0.9937107183716514,0.9945421814918518,0.0017770918506901923,0.9897692474451932,0.9911727905273438,0.0044955541663950155,11.39536172693426,11.683484077453612,1.7710791090104925
+world_model,50,1.305490493774414,1.460357427597046,0.2690350955937349,0.12409900196573945,0.1245892792940139,0.0031680241119115206,0.11131278764117844,0.1043418198823928,0.01547675320311484,0.14059181375937024,0.1325859427452087,0.028698471468967306,0.9999999837441877,1.0,8.467598332611286e-08,1.0000000108372082,1.0,9.5435140149361e-08,0.0,0.0,0.0

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,
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,10,54.84415674209595,71.89563846588135,129.83582425117493,204.650146484375,0.3899134397506714,

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"