早停特征验证，早停不通

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

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+world_model,49,1.4530057907104492,1.4605004787445068,0.021793111754910357,0.1364005903402964,0.1364745423197746,0.0018992422866589108,0.1069879035154978,0.10553172975778574,0.012032925069455889,0.12477584679921462,0.12502477690577501,0.01871672380524613,0.9891063074270884,0.9894907772541046,0.002626028401641906,0.9825577934583029,0.9830285012722015,0.006059098829609915,16.079089879989624,16.102373123168945,0.7172567698044595
+world_model,50,1.4627726674079895,1.4630911350250244,0.005277119127265703,0.11184843815863128,0.11230624094605444,0.0022208395836928845,0.1487136576324701,0.1475681364536285,0.019246295827122676,0.1887682179609934,0.1865481957793235,0.03505531866379826,1.0000000198682149,1.0,1.1175118286778772e-07,1.0000000149011612,1.0,8.477128555869223e-08,0.0,0.0,0.0

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"