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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