早停特征验证，早停不通

unitree_z1_stackbox/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=108.9841, median=130.6214, p90=143.4688, p95=148.5245
+
+### 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=47.7500, median=47.7500, p90=47.7500, p95=47.7500
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3492, p90=0.4171, p95=0.4277
+- `action_delta_mid_steps`: mean=0.0270, median=0.0257, p90=0.0404, p95=0.0430
+- `state_delta_mid_steps`: mean=0.0270, median=0.0257, p90=0.0411, p95=0.0435
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.7500, median=47.7500, p90=47.7500, p95=47.7500
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.7500, median=47.7500, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=188.4148, median=183.0132, p90=228.7367, p95=240.9799
+- `action_drift_vs_prev_round`: mean=0.3301, median=0.3282, p90=0.4390, p95=0.4419
+- `round_total_time_s`: mean=148.3125, median=149.7411, p90=151.6385, p95=151.9462
+- `policy_pass_total_time_s`: mean=72.5091, median=73.5843, p90=74.4852, p95=74.5998
+- `world_model_pass_total_time_s`: mean=72.6520, median=73.4872, p90=74.0394, p95=74.2212
+

unitree_z1_stackbox/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_stackbox,policy,72.50910377502441,72.50910377502441,,,,,,,,,,,46.083333333333336,46.083333333333336,,47.75,47.75,,47.75,47.75,,48.41666666666666,48.41666666666666,,148.3124695221583,148.3124695221583,,72.50910377502441,72.50910377502441,,72.65196190277736,72.65196190277736,,188.4147616299716,188.4147616299716,,0.330077669837258,0.330077669837258,
+unitree_z1_stackbox,world_model,72.65196190277736,72.65196190277736,,,,,,,,,,,46.25,46.25,,47.833333333333336,47.833333333333336,,47.833333333333336,47.833333333333336,,48.5,48.5,,148.3124695221583,148.3124695221583,,72.50910377502441,72.50910377502441,,72.65196190277736,72.65196190277736,,188.4147616299716,188.4147616299716,,0.330077669837258,0.330077669837258,

unitree_z1_stackbox/case1/output/inference/analysis/step_aggregate.csv

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+world_model,49,1.4257193406422932,1.459227204322815,0.07976074097840388,0.13712993636727328,0.13703507930040354,0.0007546937194460478,0.1126051284372806,0.11130952835083,0.015042800435618304,0.13427212461829183,0.1356058120727539,0.025407981066653526,0.9877608567476273,0.9884132444858552,0.003554149261275243,0.9788712610801061,0.97951540350914,0.008881827143395317,16.115930398305256,16.265664100646973,0.39574295460598746
+world_model,50,1.4361504713694255,1.460615634918213,0.0636015507866525,0.11243025958538051,0.1122768968343734,0.001123745547764945,0.1590880801280339,0.15785057097673416,0.025205074988167573,0.20723549897472063,0.2078270614147186,0.04727484126158931,0.9999999701976776,0.9999999701976776,9.338253166412447e-08,1.0000000149011612,1.0,8.47712855294204e-08,0.0,0.0,0.0

unitree_z1_stackbox/case1/output/inference/round_summary.csv

@@ -0,0 +1,13 @@
+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_stackbox-vid5-fs4,unitree_z1_stackbox,0,74.69846534729004,74.04211902618408,150.80215120315552,,,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,1,73.98387575149536,74.01528310775757,151.1251242160797,253.22300720214844,0.26909148693084717,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,2,73.76274609565735,73.56815648078918,150.4488024711609,188.7307891845703,0.24005728960037231,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,3,74.5190258026123,73.98977160453796,151.69555068016052,228.73672485351562,0.2653142213821411,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,4,72.8518614768982,73.58945345878601,149.5785253047943,167.06971740722656,0.325739324092865,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,5,73.8154571056366,72.15587997436523,149.27998208999634,180.20187377929688,0.33649909496307373,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,6,69.69154667854309,69.69993853569031,143.13594150543213,158.8018035888672,0.33744263648986816,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,7,67.83584356307983,68.3665783405304,139.32131123542786,175.6475067138672,0.438984751701355,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,8,67.98764085769653,72.16028070449829,143.27357864379883,195.95468139648438,0.3282375931739807,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,9,73.37647747993469,73.40617871284485,149.9037516117096,153.3436737060547,0.30589479207992554,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,10,73.40580654144287,72.38990902900696,148.9323091506958,187.83941650390625,0.4448220133781433,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,11,74.1804986000061,74.4399938583374,152.25260615348816,183.01318359375,0.33877116441726685,

unitree_z1_stackbox/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_stackbox-vid5-fs4,unitree_z1_stackbox,policy,72.50910377502441,,,,46.083333333333336,47.75,47.75,48.416666666666664,,188.4147616299716,0.33007766983725806,148.3124695221583,72.50910377502441,72.65196190277736,
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,72.65196190277736,,,,46.25,47.833333333333336,47.833333333333336,48.5,,188.4147616299716,0.33007766983725806,148.3124695221583,72.50910377502441,72.65196190277736,

unitree_z1_stackbox/case1/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_stackbox"
         --n_iter 12 \
         --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_stackbox/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=110.6027, median=131.2395, p90=148.6507, p95=153.3840
+
+### 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=47.6667, median=47.6667, p90=47.6667, p95=47.6667
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3532, median=0.3491, p90=0.4172, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0270, median=0.0259, p90=0.0401, p95=0.0425
+- `state_delta_mid_steps`: mean=0.0271, median=0.0259, p90=0.0407, p95=0.0432
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.6667, median=47.6667, p90=47.6667, p95=47.6667
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.6667, median=47.6667, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=215.0836, median=218.6223, p90=257.4660, p95=258.2123
+- `action_drift_vs_prev_round`: mean=0.2840, median=0.2649, p90=0.3709, p95=0.3717
+- `round_total_time_s`: mean=151.0683, median=151.3131, p90=151.8530, p95=151.9551
+- `policy_pass_total_time_s`: mean=73.9915, median=74.1323, p90=74.4498, p95=74.5848
+- `world_model_pass_total_time_s`: mean=73.9556, median=74.0580, p90=74.2324, p95=74.3204
+

unitree_z1_stackbox/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_stackbox,policy,73.9914903442065,73.9914903442065,,,,,,,,,,,45.833333333333336,45.833333333333336,,47.66666666666666,47.66666666666666,,47.66666666666666,47.66666666666666,,48.41666666666666,48.41666666666666,,151.06825691461563,151.06825691461563,,73.9914903442065,73.9914903442065,,73.95558383067448,73.95558383067448,,215.08364868164065,215.08364868164065,,0.2839532115242698,0.2839532115242698,
+unitree_z1_stackbox,world_model,73.95558383067448,73.95558383067448,,,,,,,,,,,46.0,46.0,,47.75,47.75,,47.75,47.75,,48.333333333333336,48.333333333333336,,151.06825691461563,151.06825691461563,,73.9914903442065,73.9914903442065,,73.95558383067448,73.95558383067448,,215.08364868164065,215.08364868164065,,0.2839532115242698,0.2839532115242698,

unitree_z1_stackbox/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,40,1.4609347184499104,1.462355136871338,0.004546952221523814,0.23237762724359826,0.23276635259389877,0.0017458975225459077,0.058922077839573185,0.0586237385869026,0.0029272777819073386,0.05956169000516331,0.05960632115602485,0.002351963882911939,0.7135116358598074,0.7173408567905426,0.03567356000741516,0.6863400489091873,0.6791485548019409,0.03377427754358516,70.92101860046387,70.29457473754883,2.277488912281703
+world_model,41,1.4614665508270264,1.4609440565109253,0.003597053634495406,0.22246360654632247,0.22216168045997614,0.001647125840184508,0.06429583113640541,0.06420015171170229,0.0033183404656461565,0.06468947169681386,0.06458528339862821,0.00290536080209279,0.745319793621699,0.7476596534252167,0.03391510809862273,0.7152381887038549,0.710903137922287,0.033244237489873055,64.99111684163411,64.36463165283203,2.1802632858789446
+world_model,42,1.4591728051503499,1.459276795387268,0.00900988601630016,0.2123635423680146,0.21231839805841446,0.0013870951797765347,0.06706056247154867,0.06687756255269045,0.003965632182672947,0.06863400526344772,0.06851610168814655,0.00344041298181818,0.778303990761439,0.7792279720306396,0.03132599812444151,0.7458313951889673,0.7442476749420166,0.032610206984329856,59.05101648966471,58.51544189453125,2.0774686224653665
+world_model,43,1.4500325918197632,1.4602802991867065,0.037761808456584556,0.20204567660888031,0.20216857641935346,0.0014858018112490921,0.0710182090600331,0.07101412117481225,0.004647432215204326,0.07365367934107776,0.07361828908324236,0.004223104423401115,0.8122357825438181,0.8145436942577362,0.028193974902627542,0.7782740046580633,0.7791193723678589,0.03165817428292773,53.208151499430336,52.853946685791016,1.9403200502571458
+world_model,44,1.4631803035736084,1.4636603593826294,0.002460491548016504,0.19185305138429,0.1919184923171997,0.001870462625754707,0.07466462502876914,0.07471463084220886,0.0053580226238523635,0.0794554979850848,0.07944793254137035,0.005279885816252978,0.8463446795940399,0.8505578935146332,0.024601989243665294,0.8125321318705877,0.8153517544269562,0.030203210256939235,47.273804664611816,47.03650665283203,1.8235351459007405
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+world_model,46,1.4517427881558735,1.4585922956466675,0.019005435085684565,0.17084851115941999,0.17098511755466456,0.0018025939141617965,0.08331739405790962,0.08262590691447255,0.007080865446441396,0.0920349899679422,0.09213137254118915,0.008322248700676707,0.9124102195103964,0.9167505502700806,0.016223502469592744,0.8839416752258936,0.8858543336391449,0.024473754451481294,35.45850785573324,35.36742973327637,1.4727206784380684
+world_model,47,1.4265016317367554,1.4623585939407349,0.08459431951824195,0.16012608135739959,0.1606650575995445,0.0017168229185814316,0.08989462628960605,0.08832678571343415,0.008284111636476105,0.10213517335553961,0.10215217992663381,0.010888830245721823,0.9425907681385676,0.9453962743282318,0.011541896710297681,0.920439600944519,0.9217879176139832,0.01956396090857416,29.46051295598348,29.443337440490723,1.3266421528453498
+world_model,48,1.430917779604594,1.4626811742782595,0.08249487129319005,0.1490758880972862,0.14928366243839258,0.001689381996063378,0.09672410786151882,0.09490302577614779,0.009770009578263147,0.11359179454545176,0.11375308781862255,0.01436252003971252,0.9688270886739095,0.9701672792434692,0.006838667713165985,0.9546900788942972,0.9555419981479645,0.013156629827316094,23.212613741556805,23.198505401611328,1.0358019586935243
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unitree_z1_stackbox/case2/output/inference/round_summary.csv

@@ -0,0 +1,13 @@
+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_stackbox-vid15-fs4,unitree_z1_stackbox,0,74.73948860168457,73.96563291549683,151.87137389183044,,,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,1,73.72630214691162,72.91331052780151,149.810049533844,190.8115234375,0.21689456701278687,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,2,74.36828994750977,74.027761220932,151.54740953445435,196.70889282226562,0.37256568670272827,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,3,72.83459234237671,73.90370035171509,149.87038254737854,185.57472229003906,0.2826767563819885,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,4,74.02899503707886,73.58288192749023,150.76004695892334,222.90867614746094,0.2874680757522583,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,5,73.06239604949951,74.08821201324463,150.2819435596466,234.1591339111328,0.2649487853050232,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,6,74.45828127861023,73.69422435760498,151.66074967384338,182.35394287109375,0.2557446360588074,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,7,74.34382033348083,74.21471643447876,151.68739557266235,257.4660339355469,0.26380109786987305,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,8,73.75593781471252,74.18540477752686,151.07884168624878,218.75399780273438,0.2580198049545288,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,9,74.23564958572388,74.23087906837463,151.6049246788025,258.95855712890625,0.3708571195602417,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,10,73.97062754631042,74.23259019851685,150.58851957321167,199.60240173339844,0.2604512572288513,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,11,74.37350344657898,74.4276921749115,152.05744576454163,218.62225341796875,0.29005753993988037,

unitree_z1_stackbox/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_stackbox-vid15-fs4,unitree_z1_stackbox,policy,73.9914903442065,,,,45.833333333333336,47.666666666666664,47.666666666666664,48.416666666666664,,215.08364868164062,0.2839532115242698,151.06825691461563,73.9914903442065,73.95558383067448,
+unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,73.95558383067448,,,,46.0,47.75,47.75,48.333333333333336,,215.08364868164062,0.2839532115242698,151.06825691461563,73.9914903442065,73.95558383067448,

unitree_z1_stackbox/case2/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_stackbox"
         --n_iter 12 \
         --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_stackbox/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=107.4187, median=129.3141, p90=141.2322, p95=144.5735
+
+### 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=47.2500, median=47.2500, p90=47.2500, p95=47.2500
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3537, median=0.3496, p90=0.4173, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0273, median=0.0261, p90=0.0397, p95=0.0424
+- `state_delta_mid_steps`: mean=0.0276, median=0.0265, p90=0.0409, p95=0.0432
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.2500, median=47.2500, p90=47.2500, p95=47.2500
+- `oracle_budget_state`: mean=48.2500, median=48.2500, p90=48.2500, p95=48.2500
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.2500, median=47.2500, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=176.0951, median=176.1083, p90=193.5305, p95=221.3830
+- `action_drift_vs_prev_round`: mean=0.2128, median=0.2195, p90=0.2911, p95=0.3084
+- `round_total_time_s`: mean=140.2950, median=148.1209, p90=152.8416, p95=153.1617
+- `policy_pass_total_time_s`: mean=68.6395, median=72.5733, p90=74.8262, p95=75.1154
+- `world_model_pass_total_time_s`: mean=68.7982, median=73.1641, p90=74.8800, p95=74.9091
+

unitree_z1_stackbox/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_stackbox,policy,68.63951516151428,68.63951516151428,,,,,,,,,,,45.333333333333336,45.333333333333336,,47.25,47.25,,47.25,47.25,,48.0,48.0,,140.29498356580734,140.29498356580734,,68.63951516151428,68.63951516151428,,68.79818717638652,68.79818717638652,,176.09510525790128,176.09510525790128,,0.2127628651532259,0.2127628651532259,
+unitree_z1_stackbox,world_model,68.79818717638652,68.79818717638652,,,,,,,,,,,45.583333333333336,45.583333333333336,,47.41666666666666,47.41666666666666,,47.41666666666666,47.41666666666666,,48.25,48.25,,140.29498356580734,140.29498356580734,,68.63951516151428,68.63951516151428,,68.79818717638652,68.79818717638652,,176.09510525790128,176.09510525790128,,0.2127628651532259,0.2127628651532259,

unitree_z1_stackbox/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,1,1.4514961043993633,1.4664332866668701,0.14265072533218645,1.4142960806687672,1.4146270751953125,0.0026537101509360233,0.08815826599796607,0.08833770453929896,0.014797505058462376,0.07108302476505433,0.06968275830149645,0.008178955846813519,0.22448255618413285,0.22151912748813624,0.06831356867558422,0.21039600111544132,0.20612303167581555,0.1167565273224791,143.4269701639811,142.65721893310547,6.73625346902155
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unitree_z1_stackbox/case3/output/inference/round_summary.csv

@@ -0,0 +1,13 @@
+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_stackbox-vid25-fs4,unitree_z1_stackbox,0,75.46880912780762,74.9439799785614,153.55219531059265,,,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,1,74.8252739906311,74.87486934661865,152.8361201286316,249.2354736328125,0.2911434769630432,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,2,74.82627439498901,74.88057041168213,152.84222555160522,193.53054809570312,0.28801482915878296,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,3,42.12355017662048,52.03131890296936,97.2390673160553,189.7333221435547,0.32567620277404785,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,4,74.79195809364319,74.7956612110138,152.41507959365845,182.546875,0.25310516357421875,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,5,62.319844007492065,53.96331167221069,118.98238444328308,167.04310607910156,0.2311418056488037,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,6,56.460460901260376,55.41360020637512,115.00617098808289,176.1082763671875,0.1714916229248047,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,7,71.80272388458252,72.75877737998962,147.68477654457092,189.13214111328125,0.18059927225112915,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,8,72.3630063533783,72.83984875679016,148.55705642700195,169.1431121826172,0.13604378700256348,
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unitree_z1_stackbox/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_stackbox-vid25-fs4,unitree_z1_stackbox,policy,68.63951516151428,,,,45.333333333333336,47.25,47.25,48.0,,176.09510525790128,0.21276286515322598,140.29498356580734,68.63951516151428,68.79818717638652,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,68.79818717638652,,,,45.583333333333336,47.416666666666664,47.416666666666664,48.25,,176.09510525790128,0.21276286515322598,140.29498356580734,68.63951516151428,68.79818717638652,

unitree_z1_stackbox/case3/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_stackbox"
         --n_iter 12 \
         --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_stackbox/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=106.6203, median=129.2521, p90=138.8650, p95=141.9329
+
+### 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=47.7500, median=47.7500, p90=47.7500, p95=47.7500
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3537, median=0.3496, p90=0.4172, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0269, median=0.0254, p90=0.0400, p95=0.0426
+- `state_delta_mid_steps`: mean=0.0272, median=0.0260, p90=0.0415, p95=0.0439
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.7500, median=47.7500, p90=47.7500, p95=47.7500
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.7500, median=47.7500, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=172.7308, median=174.6232, p90=193.7123, p95=196.8037
+- `action_drift_vs_prev_round`: mean=0.2954, median=0.2903, p90=0.3697, p95=0.3792
+- `round_total_time_s`: mean=144.9708, median=148.4422, p90=150.2524, p95=150.9678
+- `policy_pass_total_time_s`: mean=71.9343, median=72.8537, p90=74.0329, p95=74.2922
+- `world_model_pass_total_time_s`: mean=70.3825, median=73.3136, p90=74.0940, p95=74.3468
+

unitree_z1_stackbox/case4/output/inference/analysis/scene_summary.csv

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+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,7,74.585284948349,67.28114724159241,143.51021122932434,199.8950958251953,0.35321325063705444,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,8,59.66748332977295,73.6580765247345,136.52331018447876,174.6231689453125,0.28612107038497925,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,9,72.84212398529053,72.18343091011047,147.48012518882751,181.9683837890625,0.24119365215301514,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,10,71.23686957359314,70.42136716842651,144.79315614700317,127.64866638183594,0.2903221845626831,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,11,74.05236792564392,74.61735439300537,151.78369188308716,170.89852905273438,0.3034161925315857,

unitree_z1_stackbox/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_stackbox-vid35-fs4,unitree_z1_stackbox,policy,71.93434079488118,,,,46.0,47.75,47.75,48.5,,172.73077670010653,0.2953623858365146,144.97076398134232,71.93434079488118,70.38248016436894,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,70.38248016436894,,,,46.25,47.916666666666664,47.916666666666664,48.5,,172.73077670010653,0.2953623858365146,144.97076398134232,71.93434079488118,70.38248016436894,

unitree_z1_stackbox/case4/run_world_model_interaction.sh

@@ -20,5 +20,7 @@ dataset="unitree_z1_stackbox"
         --n_iter 12 \
         --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"