早停特征验证，早停不通

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,world_model,72.74579028649764,72.74579028649764,,,,,,,,,,,45.27272727272727,45.27272727272727,,47.09090909090909,47.09090909090909,,47.09090909090909,47.09090909090909,,47.72727272727273,47.72727272727273,,148.74021928960627,148.74021928960627,,73.71795095096935,73.71795095096935,,72.74579028649764,72.74579028649764,,214.9619262695313,214.9619262695313,,0.4435392707586288,0.4435392707586288,

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

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unitree_z1_dual_arm_stackbox_v2/case4/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-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,0,74.92504262924194,73.4843533039093,151.53948426246643,,,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,1,73.14976501464844,72.50831246376038,147.29151892662048,236.7906494140625,0.3743894100189209,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,2,72.79753828048706,72.85141515731812,148.76237392425537,252.5179443359375,0.8748331964015961,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,3,73.76113796234131,73.809317111969,149.78780913352966,246.5437774658203,0.46273118257522583,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,4,73.90034294128418,73.44013237953186,149.0589771270752,175.5687255859375,0.08769065141677856,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,5,73.75833415985107,73.92397904396057,149.91799545288086,243.335693359375,0.6228261590003967,
+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"