早停特征验证，早停不通

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
+policy,2,1.4284880757331848,1.4668020009994507,0.11074704183743792,1.0217531621456146,1.0220422744750977,0.001750005900176343,0.0533328894525766,0.0541357807815074,0.004338620131441207,0.04393169997880852,0.04269089363515375,0.004738602631495079,0.21568684900800383,0.21206695586442947,0.06760524567582721,0.20581306486080087,0.2031216844916343,0.11669626689039524,143.32375208536783,142.5536651611328,6.405344795613903
+policy,3,1.3823087811470032,1.4628610610961914,0.14828856951353753,0.850607434908549,0.8506204187870026,0.000946630369994274,0.03347171361868576,0.03388458676636215,0.0033553755489285028,0.028019564536710524,0.027472473680973,0.003367776238661991,0.2137851665417353,0.20906110107898712,0.06669752347578756,0.20770375244319436,0.20568047463893885,0.115743205065437,143.06893157958984,141.90969848632812,6.411431273953968
+policy,4,1.3907759388287861,1.4655381441116333,0.14042868369837216,0.750485767920812,0.7508242726325989,0.0020893705825754424,0.02227604528889054,0.02162741962820285,0.00307533682586833,0.018653829737255916,0.0182803981006145,0.002434051092752435,0.2169048798580964,0.21138959378004069,0.0659601195153511,0.213214471625785,0.211266428232193,0.11450864364712132,142.8264923095703,141.75892639160156,6.693840922970386
+policy,5,1.400821050008138,1.4653300046920776,0.13513181141287392,0.6826302657524744,0.6821111738681793,0.001801928303898892,0.01645008916966614,0.016330124810338,0.0019964852689677345,0.01407329334566985,0.01341313542798155,0.002116911169625791,0.22316813344756758,0.21752625703811646,0.06528626851208566,0.22069984332968787,0.218462623655796,0.11317610292960821,142.13545099894205,140.66832733154297,6.31061437276428
+policy,6,1.4095103939374287,1.4662023782730103,0.13511474075376922,0.6329151044289271,0.6330785751342773,0.0013587183484234755,0.01426307057651375,0.014095264952629749,0.0013444879684908937,0.012418965343385891,0.0117197320796549,0.0022405960116455587,0.23091955358783403,0.2250421717762947,0.06464567757842363,0.22894605156034228,0.22661520540714258,0.1117348735147396,141.6987330118815,140.12554931640625,6.293191168942187
+policy,7,1.4132508436838787,1.4677183628082275,0.13114788436945354,0.5941976606845856,0.5937048196792603,0.001046330958784749,0.013712269874910468,0.013769473414868099,0.0013966110808305194,0.011765646825854917,0.0111814681440591,0.0022460825384972446,0.23968484873572982,0.23341957479715345,0.06402708206553086,0.23754226711268223,0.2352919280529022,0.11017890756509,140.4581782023112,139.39944458007812,5.600442010042826
+policy,8,1.420365075270335,1.4629231691360474,0.1114426626882739,0.5635784467061361,0.5634960830211639,0.0015346838036542877,0.013392714007447118,0.0134050878696143,0.0014917851879862568,0.011557428476711049,0.01089521590620275,0.002198462710434125,0.24890089283386865,0.24204106628894806,0.06344913050075648,0.2463415181264281,0.24416247010231015,0.10852237056594359,138.77727254231772,138.6075897216797,4.100609285148482
+policy,9,1.3934125502904255,1.463158130645752,0.1581690937070731,0.5372697015603384,0.5372548997402191,0.001152480375946641,0.013103184678281282,0.0132315508089959,0.0015733522987863354,0.011559526358420608,0.01089855050668115,0.0022424545589731625,0.25827500720818836,0.2507018744945526,0.0628647299422689,0.2551961432521542,0.25301002711057663,0.10672809167054857,138.55392201741537,138.74242401123047,4.179111553013055
+policy,10,1.3728266557057698,1.4679312705993652,0.23237393983157453,0.515766903758049,0.5156912207603455,0.0006564915916537393,0.013074517250060981,0.01317432615905995,0.001605217332846052,0.01151829197381929,0.01081313285976645,0.0022637547987036147,0.26790099591016764,0.2595300078392029,0.062214115099971774,0.26389765335867804,0.26168711483478546,0.10488563176366177,137.5884780883789,137.9875946044922,3.7469298022760604
+policy,11,1.365459402402242,1.4632176160812378,0.236300189953635,0.49656423926353455,0.4962767958641052,0.0013416280515663205,0.013293843405942083,0.013316503725945901,0.001611064860168615,0.012108852698778075,0.011516050435602651,0.0021111234246996165,0.27776320899526274,0.2684778422117233,0.061541033404546544,0.2728102697680394,0.2709910571575165,0.1029113515271913,136.6358731587728,137.06288146972656,3.517716148750601
+policy,12,1.361248751481374,1.4626582860946655,0.23944811765204274,0.48031115780274075,0.48018428683280945,0.0008493154196740745,0.013513926804686558,0.013602224644273499,0.001556543860865821,0.012728660134598566,0.012151814531534851,0.0020898980872208614,0.28779765218496317,0.2775310128927231,0.06079773106854168,0.28189274792869884,0.28051310777664185,0.10081932620287307,135.76498413085938,136.0425262451172,3.46024380771212
+policy,13,1.3708336154619853,1.4647754430770874,0.2314007395008071,0.46409491697947186,0.46419112384319305,0.0009104048591066768,0.01418316635924076,0.01433136500418185,0.0015193985863125787,0.013225081687172208,0.0127393184229731,0.0020399216627937037,0.2981083107491334,0.28681541979312897,0.060031048020737866,0.2910813043514887,0.29016703367233276,0.09859811940493211,135.40853881835938,135.4634246826172,3.381439731985575
+policy,14,1.360453466574351,1.4661341905593872,0.23897842185054116,0.4510434791445732,0.4509788155555725,0.0009463367127728704,0.015017583888644924,0.0150662027299404,0.0014478046133989573,0.014161602516348126,0.0137062398716807,0.0020272367325810856,0.3087386799355348,0.29647451639175415,0.05931422931170782,0.3005216401070356,0.29999689757823944,0.09628922919372694,134.41141001383463,134.68423461914062,3.1110840754598184
+policy,15,1.340964396794637,1.4643733501434326,0.23762512012367762,0.43903514246145886,0.43891993165016174,0.0006062192713537437,0.015655631820360758,0.0156145156361162,0.001420816422555501,0.01486508951832845,0.0143978125415742,0.0020617223681926944,0.31957971925536793,0.3063753992319107,0.05859010916912319,0.3100763546923796,0.309925839304924,0.0939055677476589,133.93714904785156,134.12549591064453,2.9539521806164557
+policy,16,1.3682113289833069,1.4674502611160278,0.2436471352020587,0.42685097207625705,0.42688944935798645,0.0006669917967198996,0.01639365140969549,0.016251906752586302,0.001393989249871502,0.015942862412581794,0.0154083166271448,0.0020182115048691745,0.330702893435955,0.318780705332756,0.05778594654070195,0.31990930003424484,0.3201854676008224,0.09146797960226831,133.21281305948892,133.41471099853516,2.5784508944920423
+policy,17,1.368942419687907,1.46605384349823,0.2411232226781162,0.4161190216739972,0.41612090170383453,0.0009610890254653556,0.017157813068479248,0.0169859621673822,0.0013094474622894784,0.01692617855345204,0.016409488394856397,0.0019916788086039505,0.34206980218489963,0.33135388791561127,0.05696498312633145,0.3300146659215291,0.33152382075786585,0.08897557377958148,132.73579279581705,132.84784698486328,2.539553041893179
+policy,18,1.3496115406354268,1.4673179388046265,0.2413918284933082,0.4063699394464493,0.4061413109302521,0.0011330669977413174,0.017815952189266633,0.017566427588462802,0.001257146056995025,0.01768187557657555,0.01718776673078535,0.001922356077890386,0.35362088680267334,0.3440633863210678,0.056095973028575025,0.3402767231067021,0.344283327460289,0.08644788655871015,131.95900090535483,131.96707153320312,2.356772377694987
+policy,19,1.3307000597318013,1.4642266035079956,0.24039347574677947,0.3969671254356702,0.39666247367858887,0.001117083304999204,0.0192180853337049,0.018950195983052198,0.0011743009595956528,0.01888109991947805,0.0184199064970016,0.0019034745817225792,0.3655497233072917,0.3573783189058304,0.0554560882689483,0.350887848685185,0.35746903717517853,0.08384653758541888,131.6081771850586,131.63378143310547,2.1966635000067205
+policy,20,1.3216761747996013,1.464017391204834,0.24446634939709067,0.387797474861145,0.3875481784343719,0.0009523326632978399,0.01999890307585395,0.019589161500334698,0.001169818729688311,0.019631324801593974,0.019302508793771198,0.0018268506701478535,0.37774521112442017,0.37091751396656036,0.05474017373868484,0.36164412771662074,0.37068174779415125,0.0811972034185924,131.27875137329102,131.29258728027344,2.0832124334907745
+policy,21,1.3354681928952534,1.4628947973251343,0.24335677090553012,0.37919823080301285,0.37929099798202515,0.0011470664227386134,0.020972683560103133,0.020530439913272802,0.0011462071619598461,0.021125073234240167,0.0208769245073199,0.0018107550171339803,0.39036667843659717,0.3845256567001343,0.05393436471778914,0.37290091812610626,0.38465383648872375,0.07851861327273675,130.80511983235678,130.85099029541016,1.9135277982498082
+policy,22,1.3367981712023418,1.462579607963562,0.23838807454476227,0.3714714894692103,0.3714618682861328,0.0005793829982918417,0.02226453895370159,0.0219157580286264,0.0011246610273864743,0.022338056005537472,0.02213180903345345,0.001749093078716641,0.4033614670236905,0.3961475342512131,0.053281230061422366,0.38451779012878734,0.3980652689933777,0.07578497342970267,130.58839162190756,130.64080047607422,1.9211310873704286
+policy,23,1.3273362119992573,1.4642388820648193,0.24100353868734214,0.3639088248213132,0.36383599042892456,0.0008106358923511905,0.02352463376397883,0.02323568705469365,0.0011042534817733846,0.023530625427762616,0.023407899774610948,0.0017363956582654343,0.4168107683459918,0.4085156470537185,0.052680512557132825,0.396547369658947,0.4114896208047866,0.07301851614085368,130.27553049723306,130.1875228881836,1.837911637188049
+policy,24,1.3462663292884827,1.463379144668579,0.24237008705801216,0.35696085045735043,0.35715046525001526,0.0006312247080310943,0.024443481117486916,0.024175413884222452,0.001109159606555497,0.024889479236056358,0.0248442618176341,0.0016726161584410897,0.4307517856359482,0.4218268990516662,0.05193553064968328,0.40903770675261814,0.4253422319889068,0.07025076401587398,129.99392573038736,129.82550811767578,1.8172646832721222
+policy,25,1.3565886616706848,1.4634654521942139,0.2405234142383257,0.3500410045186679,0.35027679800987244,0.0007934314098448057,0.025705527514219225,0.0254750614985823,0.0011316082138882783,0.026326933254798197,0.02632151078432795,0.0016721561215544828,0.4451921358704567,0.4363867342472076,0.0510814684441401,0.42205270379781723,0.4397570639848709,0.0674541075149548,129.61062367757162,129.4182891845703,1.7280067375695136
+policy,26,1.3664379715919495,1.4618566036224365,0.2399964356532914,0.3429635266462962,0.3430739492177963,0.0007477258143854117,0.02716036746278401,0.0270465184003114,0.0011109228249078782,0.027560727205127433,0.0276337433606386,0.0016298311645845489,0.46020005146662396,0.4516144394874573,0.050287849035917286,0.4354897489150365,0.45092208683490753,0.06470600683244428,129.41060892740884,129.03409576416016,1.6814825137398992
+policy,27,1.3664841850598652,1.4640250205993652,0.24246239313032594,0.3364785487453143,0.3366237878799438,0.0008352830960804999,0.028641139001895934,0.0285576973110437,0.0011617657517750209,0.02916785857329762,0.0293389372527599,0.0016120654135723463,0.47585250933965045,0.46744386851787567,0.04946791184823064,0.44953425228595734,0.4623652696609497,0.061987153301597465,129.17973709106445,128.86807250976562,1.6339478172805324
+policy,28,1.3603558937708538,1.4647271633148193,0.23966932775189315,0.3302335838476817,0.33032624423503876,0.0009719253449234233,0.030138570970545175,0.030158263631165,0.0011628004224734435,0.030684216879308192,0.030962934717535952,0.0016040019628414085,0.49207187940677005,0.4839420616626739,0.048693781517979165,0.4641447464625041,0.47370465099811554,0.05930055330184227,129.04810905456543,128.64147186279297,1.563337108796478
+policy,29,1.3593886295954387,1.4657618999481201,0.2497104033204242,0.3241197640697161,0.32411935925483704,0.00105853361191148,0.031567411497235257,0.03158082626760005,0.0012534756693073402,0.032282185895989295,0.03259637579321855,0.0015692026218403115,0.5090347826480865,0.5010004043579102,0.04773891777234016,0.47939852625131607,0.4852485805749893,0.056670699678736516,128.66509564717612,128.23739624023438,1.5629082444836457
+policy,30,1.3533824682235718,1.4644765853881836,0.26574880716014054,0.3180307472745577,0.31805169582366943,0.0010230747907300176,0.033383886019388784,0.0334640331566333,0.0012742609643165259,0.03434713371098036,0.034507475793361594,0.0015925466186355714,0.5267605582873026,0.5189079344272614,0.046923783305896444,0.49561479439338046,0.5001431107521057,0.054093342818343285,128.50726381937662,128.15737915039062,1.5757263784784865
+policy,31,1.33167564868927,1.4667457342147827,0.2653531108452637,0.3130261451005935,0.31286537647247314,0.0009145624766758303,0.034939286919931506,0.035107685253024046,0.0013945487865749133,0.03612844770153359,0.0360507667064666,0.001591207951280857,0.5452365999420484,0.5374854505062103,0.045964358415041415,0.5125287274519602,0.5157580375671387,0.05165917520885788,122.37392934163411,121.99047088623047,1.5775549705692617
+policy,32,1.337987204392751,1.4664478302001953,0.26478504927883034,0.3055497383077939,0.30528186261653895,0.0013024278297381188,0.03720108047127719,0.0375883895903825,0.001438713281206481,0.03751976539691285,0.037603475153446156,0.0015798663259587408,0.5646716852982839,0.5570079684257507,0.045159606368212785,0.530096543331941,0.5320173799991608,0.049450797506375314,116.39299201965332,116.04191970825195,1.5432273001531216
+policy,33,1.3535491824150085,1.4670562744140625,0.2648956438862192,0.2974998628099759,0.2972348034381866,0.0009311252354975212,0.03855182634045676,0.0388273354619741,0.0016759186393443034,0.039786133915185866,0.039863927289843504,0.0016343680905096174,0.5849033494790395,0.5773120224475861,0.044033665406680814,0.5486232986052831,0.5492530167102814,0.0474293195764187,110.52816772460938,110.11327362060547,1.4703122236953623
+policy,34,1.354248583316803,1.4661271572113037,0.2653804398063151,0.2893665259083112,0.28932361304759974,0.0008662446162312257,0.04081811849027867,0.04116532579064365,0.0017713640679531129,0.042007591575384085,0.042122179642319596,0.0017134877512996185,0.6061106473207474,0.5985983312129974,0.042971134100845354,0.5681722039977709,0.565761536359787,0.045659031002788904,104.52553939819336,104.17565155029297,1.4339862500216922
+policy,35,1.3593196272850037,1.462613821029663,0.22512087790250235,0.28083158036073047,0.2807611674070358,0.0011002640778286202,0.043136008704702015,0.04352479800581925,0.0019385580039624408,0.04424295232941703,0.0441963374614715,0.0018210442834001945,0.6283672451972961,0.6196481585502625,0.041925050938585166,0.5887533873319626,0.5876979231834412,0.044212144588678705,98.58621406555176,98.27754592895508,1.3378822382447166
+policy,36,1.3004550337791443,1.4658316373825073,0.280503195043668,0.27225958307584125,0.2726186662912369,0.0010742334426446169,0.04547287710011002,0.04600878618657585,0.002158794406933666,0.04757012178500489,0.04716215096414085,0.0020668446180830873,0.6516861965258917,0.6432889699935913,0.04078516975933058,0.6108724971612295,0.6109796464443207,0.04307417409225084,92.72960217793782,92.49023056030273,1.3028684486494992
+policy,37,1.2973250150680542,1.4636156558990479,0.29030176072770847,0.26315369953711826,0.26305925846099854,0.0011882823141330266,0.04759334400296206,0.048150282353162696,0.002481991921720268,0.049177912995219196,0.048861304298043196,0.0022340997623413834,0.6760059247414271,0.6678970456123352,0.039411822063675696,0.6336702803770701,0.6353136599063873,0.042334097584267365,86.76492627461751,86.59952926635742,1.2214554750470037
+policy,38,1.3101803064346313,1.4651179313659668,0.29885140087450535,0.25390834858020145,0.2538760155439377,0.0013100183344216152,0.049970258027315084,0.0506187248975038,0.002782950521507145,0.05319198686629529,0.052967969328165,0.002583890734012367,0.7013241797685623,0.6925036013126373,0.03788067764216565,0.6583595971266428,0.6614533364772797,0.04191337342930875,80.82204246520996,80.80442428588867,1.1657263131453743
+policy,39,1.267794946829478,1.4612075090408325,0.31247498309432403,0.24439479907353714,0.24458731710910797,0.0012444652554514028,0.05265100269267953,0.053366687148809405,0.0031221503342247167,0.05589976503203307,0.056105818599462454,0.0030171330811797938,0.7276264677445093,0.7176094055175781,0.0362416548875852,0.6841501792271932,0.6886569261550903,0.04173378624996745,74.98766009012859,74.98124694824219,1.0978803860720887
+policy,40,1.2705204685529072,1.4645931720733643,0.31889583105700137,0.23481679211060202,0.23469239473342896,0.0012547901040822396,0.055623393816252496,0.0566653292626142,0.0035524846654154387,0.05796967260539526,0.0586731191724538,0.0034602590446542935,0.7549642622470856,0.7425335347652435,0.03444414681470445,0.7106833010911942,0.711881011724472,0.041720704701481114,69.1585038503011,69.08203125,1.0285978695698537
+policy,41,1.244135042031606,1.4430646896362305,0.3117545450843673,0.22444079692165053,0.22457382827997205,0.0012290094553657912,0.06046649285902574,0.06133746169507495,0.004108268045544505,0.06279299408197399,0.06347419321537015,0.004221503200219305,0.7838167995214462,0.7720646560192108,0.03242807482695765,0.7392430454492569,0.7402101159095764,0.04162358493470281,63.333529472351074,63.36355400085449,0.9740044247244463
+policy,42,1.2402119239171345,1.3882075548171997,0.29884682577776506,0.21480076387524602,0.21500466018915176,0.0014289764443808823,0.06259873105833924,0.0639160349965095,0.004728118763351797,0.06632452923804517,0.06663092225790021,0.00509709992361324,0.8129939486583074,0.8036965429782867,0.02999010612222716,0.7689220756292343,0.7663750350475311,0.041180833681052686,57.52005831400553,57.38733100891113,0.9257024231464065
+policy,43,1.2844266494115193,1.4467047452926636,0.29440231776681286,0.20430987204114592,0.2047093734145164,0.0011855750711814452,0.06587968766689296,0.0671427324414253,0.005428697814275379,0.07088048942387098,0.0712661072611808,0.006238192942711078,0.8424940754969915,0.8360494077205658,0.027178866716835802,0.799897775053978,0.7959309220314026,0.040093671871849895,51.75542958577474,51.71021270751953,0.9155012393240156
+policy,44,1.308923065662384,1.4648120403289795,0.2971608510308173,0.1940578793485959,0.19418163597583765,0.0012319256024289806,0.06885546135405696,0.07002647966146465,0.006244869740771023,0.07607815104226268,0.0765009000897407,0.007794720856040961,0.8716868956883749,0.868959903717041,0.023944334940404478,0.8319618552923203,0.8294765055179596,0.038042722560882994,45.973050117492676,45.841651916503906,0.8773652067436412
+policy,45,1.3201566537221272,1.4676074981689453,0.2989149431467348,0.18358629941940305,0.18358578532934183,0.0013486430995571605,0.07273259386420246,0.0734041631221771,0.007249597673897299,0.08025325896839297,0.08066671714186666,0.009382316367956833,0.9003215382496516,0.9000848829746246,0.02022590303713163,0.8642310996850332,0.8632258474826813,0.03485202057713309,40.26138401031494,40.13649368286133,0.8370463401282596
+policy,46,1.3350951075553894,1.4668281078338623,0.29849734977369613,0.17314705749352768,0.17340122908353806,0.001336515375733561,0.07614916035284594,0.0766925178468227,0.008318076089043724,0.08731321059167381,0.08765801787376401,0.011751181696377046,0.9272978107134501,0.9273074269294738,0.01613265081415561,0.8970760951439539,0.89739790558815,0.030081480221515626,34.52261193593343,34.3971004486084,0.8406580916659918
+policy,47,1.3200125495592754,1.4655821323394775,0.2972710286997085,0.1625496000051498,0.16256292164325709,0.0011842657641501202,0.08191449753940101,0.08234155923128125,0.009851009248592286,0.09639218077063556,0.0963866114616394,0.015077571425161234,0.9523439804712931,0.9524706602096558,0.011635573788033204,0.9296546429395676,0.9308361113071442,0.023497966851217883,28.685232798258465,28.51993179321289,0.7777872823741105
+policy,48,1.2779292861620586,1.4651966094970703,0.3187387807466615,0.15138585741321242,0.1513761132955551,0.0011334444453633139,0.08811932926376657,0.0885151773691177,0.011732618850291171,0.10674890999992685,0.1060527972877025,0.01948842955738693,0.97406538327535,0.9742068350315094,0.007026812712188528,0.9599569390217463,0.961449146270752,0.015321527589284924,22.515003840128582,22.332239151000977,0.6608371870484339
+policy,49,1.2662121852238972,1.4645750522613525,0.3180382006241888,0.1385321753720442,0.1385112032294273,0.0012675460884520417,0.09768487761418021,0.09803776815533635,0.01452319971049642,0.11717905166248477,0.11565360799431801,0.024877814872548212,0.9909004221359888,0.9909707307815552,0.0027627669997359184,0.9845491598049799,0.9855727553367615,0.006788825460921557,15.586641709009806,15.452382564544678,0.46077328858699984
+policy,50,1.305367648601532,1.4591965675354004,0.2937860860454806,0.11419924100240068,0.11417527124285695,0.0014136249029556424,0.1360815595835447,0.13664043694734568,0.023390096536401034,0.17722778581082818,0.17283160984516138,0.045155839086328566,1.0000000447034836,1.0000000596046448,8.087164464946545e-08,0.9999999950329462,0.9999999701976776,8.219208528940926e-08,0.0,0.0,0.0
+world_model,1,1.3324374953905742,1.465247392654419,0.2995412070421202,1.412967065970103,1.4141411185264587,0.0032971973141664203,0.08182514024277525,0.0829702317714691,0.010125436029118275,0.054141276205579396,0.05438887700438495,0.009478799522713644,0.19033654158314064,0.16411440819501877,0.0790714639172671,0.1897304352993766,0.16211740672588346,0.09937171696800264,145.4807014465332,144.00960540771484,8.308720787969719
+world_model,2,1.3230998714764912,1.4649403095245361,0.29913769036939175,1.0209025144577026,1.020988941192627,0.001465154183540369,0.05086322842786705,0.0501329526305198,0.005169664978014137,0.035131690092384774,0.035030059516429846,0.004828047330905289,0.18146871775388715,0.15785769373178477,0.07805377972849797,0.1873613937447468,0.15826757252216334,0.09925561000463262,145.6258227030436,144.05266571044922,8.554981255360682
+world_model,3,1.3058478832244873,1.4652750492095947,0.2958188553874805,0.850726326306661,0.8506162762641907,0.0017345248045851898,0.03198353170106803,0.03073759563267225,0.003701001418590309,0.023391577725609094,0.02309559937566515,0.0023718276315604133,0.17896326817572114,0.1558114811778068,0.0769965525994279,0.19078042947997645,0.1614322513341903,0.09823375288940464,144.47901407877603,143.11595916748047,7.640284173184483
+world_model,4,1.327458421389262,1.4583436250686646,0.2634392079646764,0.750361368060112,0.7507440745830536,0.0019660394379409267,0.021159325415889375,0.02070593461394305,0.0027052065144902208,0.016782347966606374,0.016363432630896547,0.0013966819249928983,0.18139213447769478,0.15739849209785456,0.07642762308514697,0.19712852500379083,0.16836223751306528,0.09679508464955465,143.754638671875,142.33639526367188,7.3829398223075575
+world_model,5,1.3587238788604736,1.466988444328308,0.23465880045765022,0.6829876452684402,0.6830637156963348,0.0018901889129748061,0.01617966095606481,0.01621219795197245,0.0017625200239679015,0.013763334602117483,0.0132242646068334,0.0017629198601261508,0.18733921522895491,0.1624771580100059,0.07600205417771969,0.20486894312004245,0.17710632085800165,0.09513383510635813,143.92188262939453,142.24214935302734,8.074557916614145
+world_model,6,1.3535614013671875,1.4667655229568481,0.2388869031660517,0.6333335141340891,0.6331925392150879,0.002102788763004204,0.014534081487605916,0.0141919124871492,0.0012210912396583842,0.012355493692060267,0.0120339766144752,0.001954931880447621,0.1948994056632121,0.1691321283578872,0.0756554726829088,0.21313278997937835,0.18647358566522593,0.09345463943122023,141.7034594217936,141.3905487060547,6.898125335948632
+world_model,7,1.358333985010783,1.4656699895858765,0.23613484486655933,0.594330295920372,0.5948872566223145,0.0018574444865306512,0.013804319935540326,0.0137546430341899,0.001079026477237778,0.011690994258969975,0.0115611972287297,0.0018293457933451463,0.2036715820431709,0.17741032689809794,0.07535706588769274,0.22165014843146003,0.19593904167413712,0.09178023404155193,140.92623647054037,141.81249237060547,6.22526464269265
+world_model,8,1.3566216826438904,1.4613800048828125,0.23155126297646167,0.5634600768486658,0.5632635951042175,0.0017947456041396167,0.013407944003120032,0.0132608702406287,0.0011515345306801132,0.011547168872008675,0.011157593689858851,0.001702735785144525,0.21300334110856056,0.18702118098735804,0.07504998832377553,0.2303097049395243,0.20527942478656763,0.09006431820022277,140.42773818969727,140.53701782226562,5.580124049709498
+world_model,9,1.315873146057129,1.4666224718093872,0.29430236847537433,0.5374801705280939,0.5376436412334442,0.0022092914814297085,0.01313463839081421,0.0128676928579807,0.001349467602221659,0.01156685284028445,0.0112827881239354,0.0016509875529234057,0.22249151269594825,0.1975789666175842,0.07458706711685517,0.23908134922385213,0.21468275785446164,0.08822120348183687,138.94841384887695,139.59356689453125,5.235962401601664
+world_model,10,1.3072563409805298,1.4644280672073364,0.30072685806401495,0.5162367771069208,0.5162033438682556,0.0010472582141856871,0.013159006989250524,0.01312828436493865,0.0013677553051297355,0.011715847145145092,0.01163349580019705,0.0016741061402742732,0.23226055564979706,0.20924910902976984,0.07410042174203534,0.24790865679581955,0.2241650819778442,0.08627761344163168,138.09634017944336,138.12659454345703,5.1950260551633365
+world_model,11,1.2998327016830444,1.4620815515518188,0.30452516496784166,0.4965270509322484,0.4965982586145401,0.0005838090292712383,0.013388777617365066,0.01322101941332215,0.0014983262318987358,0.012330945969248759,0.01211841637268655,0.0016360626715425728,0.2422762997448444,0.22017668187618256,0.07357459972150525,0.256863173097372,0.2336788475513458,0.0842425766980148,137.0018196105957,136.99738311767578,4.795189496483657
+world_model,12,1.3094836274782817,1.466804027557373,0.30446444172609555,0.4791923960049947,0.47936035692691803,0.001377079953485259,0.013658921932801557,0.013558240607380801,0.0014593106486645955,0.012971419297779549,0.012862362433224899,0.001566767769625278,0.25254737958312035,0.23136994987726212,0.07300942899302962,0.26596274723609287,0.24338041245937347,0.08215763548901332,135.6907844543457,135.61719512939453,3.7136486182956343
+world_model,13,1.2994195620218914,1.4654091596603394,0.3057638490806494,0.464080552260081,0.4640263319015503,0.0010400473950015067,0.014279955221960907,0.01421078015118835,0.0014695079408933605,0.0134809128940105,0.01322861807420845,0.0015574906425132558,0.2630378305912017,0.24284289777278895,0.07244437878904256,0.27514353394508356,0.2530352845788002,0.08006955219930956,135.29717254638672,134.6700668334961,3.9099942248572166
+world_model,14,1.3065890471140544,1.4666279554367065,0.3062950133084858,0.4508480926354726,0.45091502368450165,0.0009804166498865294,0.015127398461724265,0.015043057501316,0.0014730759316701591,0.0143874201457947,0.0141637832857668,0.0015062578927352184,0.273890234529972,0.25460794568061823,0.0719411870900184,0.2845437936484813,0.2628321349620819,0.07793858934655239,134.77096303304037,133.7221450805664,4.038047110869132
+world_model,15,1.2865275541941326,1.4647328853607178,0.3013765388383326,0.4383527437845866,0.43854998052120203,0.0008649405095510681,0.015770275611430358,0.015638043172657448,0.0014617831654331625,0.015067459782585474,0.01482387306168675,0.0015108034753493604,0.2849728167057037,0.26657088100910187,0.07138427913465228,0.2941086379190286,0.2727879136800766,0.07574356530212978,133.93294270833334,133.84315490722656,2.932738242508392
+world_model,16,1.2588459650675456,1.4562960863113403,0.2984972437984818,0.42637882878383,0.42641739547252655,0.0010477330224127573,0.016574417473748274,0.016466300003230502,0.0014523782214053442,0.016130544012412366,0.0159234153106808,0.0014663142133617987,0.2963659775753816,0.27870891988277435,0.07084434825718754,0.3039369583129882,0.28319789469242096,0.0735151322126507,133.23003641764322,133.2628173828125,2.7887285653810294
+world_model,17,1.263397713502248,1.4641958475112915,0.29815558440143103,0.4158514092365901,0.41594699025154114,0.0011223658642478516,0.017390614297861807,0.01736899279057975,0.0013823110374243889,0.017087570081154465,0.016917678527534,0.0014143534722625734,0.3080458988746007,0.2911610007286072,0.0703215333020635,0.3139910449584325,0.2946209460496902,0.0712600313681645,132.5191879272461,132.19637298583984,2.5656183241768953
+world_model,18,1.2600008050600688,1.4473092555999756,0.2962782266250042,0.40571558227141696,0.4055367112159729,0.001033543832959903,0.01809798072402671,0.01800622604787345,0.0013846215324519178,0.017828388682876967,0.01764205470681185,0.0013538793015721252,0.31996345395843184,0.30375145375728607,0.06973177209506232,0.32415572305520374,0.307541012763977,0.06900048998896764,132.09952926635742,131.85636138916016,2.323985803120715
+world_model,19,1.2838962872823079,1.4651827812194824,0.30329404664711196,0.39635257919629413,0.3966458737850189,0.0007859933645899742,0.019586605951189936,0.01955624297261235,0.0013308943781670545,0.01903384706626331,0.01890321075916285,0.0013033913255467028,0.3323587626218796,0.31675882637500763,0.06930279697302542,0.3346910787125428,0.3211538046598434,0.0667082403511481,131.78694788614908,131.5302505493164,2.1292777728188046
+world_model,20,1.2845310767491658,1.4640718698501587,0.2988494662160569,0.38729536533355713,0.3873770385980606,0.0009838655119398197,0.02039100695401425,0.0203665783628821,0.001305705939354215,0.019837009720504242,0.0197301963344216,0.0012699500430668044,0.345033623278141,0.3300842195749283,0.06881813388723057,0.34538570543130237,0.3347918540239334,0.06440192196838862,131.43286259969076,131.20934295654297,1.9469813314561628
+world_model,21,1.3012959559758503,1.4662232398986816,0.3102865517498375,0.37947066128253937,0.3797520399093628,0.000767278384505151,0.021350705220053532,0.02138466853648415,0.0013006592117792992,0.021326361534496106,0.02119187172502275,0.0012625141753587889,0.35807785391807556,0.34377589821815485,0.06831070666605472,0.35652271658182144,0.3489723801612854,0.06206875590269134,131.18223317464194,131.3406982421875,1.7867953914230514
+world_model,22,1.3048062523206074,1.4666942358016968,0.3047487773231263,0.3713822936018308,0.371649220585823,0.0011819392993155729,0.02267679820458088,0.0227471319958567,0.0012738539541903302,0.022586962363372192,0.0225103683769702,0.0012128875539471513,0.37153833111127216,0.35796721279621124,0.06789595997868351,0.3680698921283086,0.3638516366481781,0.05975628276513156,130.89046160380045,131.08528900146484,1.8144968591242723
+world_model,23,1.3043485681215923,1.462475299835205,0.30649667311634454,0.36379194011290866,0.3640700727701187,0.0010610490083256968,0.023989541145662416,0.02410419378429645,0.0012505979120294888,0.023783827821413635,0.023737752810120548,0.0011757492806675476,0.38545919954776764,0.3726361244916916,0.0675648127132403,0.3799791783094406,0.37927970290184015,0.05747615871346152,130.6096731821696,130.69054412841797,1.6957694779972774
+world_model,24,1.3044523199399312,1.466745376586914,0.30737564517721117,0.3563357988993327,0.3564181327819824,0.0009509370017951124,0.024949938834955235,0.02511177118867635,0.0012730709635982221,0.025158403441309884,0.0251650614663958,0.001133109225475653,0.3997833902637164,0.38775683939456934,0.06707435831070865,0.39234059552351624,0.39536339044570923,0.05523787126388818,130.27170499165854,130.38731384277344,1.682704756352401
+world_model,25,1.304535706837972,1.4599456787109375,0.302197773671325,0.34937185049057007,0.3490731716156006,0.0009422520443671249,0.026219487500687408,0.02655122429132455,0.0012902454029671627,0.026597232868273993,0.026642299257218748,0.0010764751831050883,0.4146640474597613,0.40337416529655457,0.0665300701466774,0.4052874644597371,0.41020770370960236,0.05304851336289146,129.82589785257974,129.7763442993164,1.675041096814939
+world_model,26,1.3025047381718953,1.465227723121643,0.30812613721156795,0.342549371222655,0.34269873797893524,0.0008526297781600868,0.027714574709534586,0.02811594866216175,0.0012960374428492927,0.027850126537183866,0.02800390031188725,0.0010120476281427653,0.430101344982783,0.41960853338241577,0.0660634109716199,0.41871940592924756,0.42246642708778376,0.05095222965149533,129.65775934855142,129.64127349853516,1.6770645425873572
+world_model,27,1.2877419988314311,1.4673678874969482,0.3018966802882607,0.3358617549141248,0.33531567454338074,0.0013367408916893201,0.02920764808853463,0.0297004478052258,0.0013378870402233508,0.02946583538626626,0.02956428285688155,0.0009626214217553379,0.4461912140250206,0.43638074398040766,0.06559805103450721,0.4327260007460912,0.4345843344926834,0.04894002067495381,129.48828760782877,129.4609146118164,1.5973340260124393
+world_model,28,1.2811581095059712,1.4501560926437378,0.2966948529755393,0.3301394060254097,0.33020442724227905,0.000684948696644565,0.030705797796448015,0.031124503351747948,0.0013818181430601303,0.0309805177773038,0.0310759833082556,0.0009325672841873348,0.46287891020377475,0.45373116433620453,0.06519849011057594,0.44732147455215454,0.44728636741638184,0.04706750336365794,129.38192176818848,129.2815399169922,1.5663598686776128
+world_model,29,1.2996514240900676,1.4644813537597656,0.26826641719531613,0.32359954466422397,0.32355587184429163,0.0010530400456740074,0.032158122553179624,0.03244877420365805,0.0014947107203514384,0.032624809847523716,0.03274204395711415,0.0008681338965274952,0.48034026473760605,0.4719019085168838,0.06466052262096642,0.4625691970189412,0.46066977083683014,0.04539847971549629,128.9692923227946,128.99085998535156,1.529046715833038
+world_model,30,1.3156337141990662,1.4628863334655762,0.2461824539762882,0.31723379592100776,0.3170023709535599,0.0010661510755837534,0.0340738821153839,0.03424462303519245,0.0015365447615419982,0.03472095572700098,0.034822504967451054,0.0008765279079888146,0.49863221247990924,0.49097940325737,0.06416208354491075,0.4788042331735293,0.4749098420143127,0.04391808376926154,128.7329889933268,128.6767349243164,1.4437058536146696
+world_model,31,1.3386098345120747,1.4644719362258911,0.23681667708424237,0.31242440144220984,0.3122453242540359,0.0009908232621607714,0.035662021487951244,0.03577269613742825,0.0016934111809351947,0.03654145821928973,0.03655930608510965,0.0008595261777051727,0.5177750786145529,0.51085165143013,0.0635925533547614,0.4958255390326182,0.48980820178985596,0.042650539531628964,122.60909334818523,122.53886795043945,1.4678925625238815
+world_model,32,1.3437599937121074,1.4644107818603516,0.24152580900309717,0.3049612392981847,0.30495037138462067,0.0011512389743983567,0.03801762747267878,0.0381020382046699,0.001790101507945673,0.03793692744026577,0.03788747452199455,0.0008512064853466043,0.5379066690802574,0.5322455763816833,0.06310780798254509,0.5135028138756752,0.5053644925355911,0.04169612744862608,116.6863505045573,116.7971076965332,1.4279746669169302
+world_model,33,1.3407840927441914,1.4645313024520874,0.22230058882241385,0.2970742285251617,0.29710790514945984,0.0008391079982217793,0.039366766499976266,0.03941491246223445,0.0020325385907473616,0.040257105293373216,0.0402110088616609,0.0008903242377350366,0.5588686068852743,0.5563212037086487,0.06225794006721102,0.532166600227356,0.5244097113609314,0.041161510996483124,110.72182655334473,110.80198669433594,1.3779329514586338
+world_model,34,1.3986088236172993,1.46695077419281,0.12011985622296435,0.28868817289670307,0.28901469707489014,0.0011521871153824259,0.04173752199858421,0.04180811345577235,0.0022080248838775847,0.0424811085686087,0.0425663515925407,0.0009811991960754093,0.5809285442034403,0.5816094875335693,0.06130433444478844,0.5518313546975454,0.5450356602668762,0.04096279785528642,104.68651262919109,104.81845092773438,1.2901145413623452
+world_model,35,1.4349912405014038,1.4672404527664185,0.11240491023423588,0.28041873127222056,0.28028862178325653,0.001118198472835944,0.04413761198520657,0.044106043875217396,0.0024012315084769626,0.04472040602316455,0.0449955072253942,0.0011050877054530812,0.6041207760572433,0.608056366443634,0.060248122185123563,0.5725904852151871,0.5668211877346039,0.04108431178216223,98.75725491841634,98.91526412963867,1.2331439571329288
+world_model,36,1.4249348640441895,1.4672139883041382,0.11538094428946458,0.27186980843544,0.27180948853492737,0.0012153437246828845,0.04657749397059277,0.046520963311195346,0.002712625291587496,0.04810178466141219,0.0485489200800657,0.0013575561596677022,0.6285594254732132,0.6355906426906586,0.05888482790632723,0.5949844966332117,0.5904192626476288,0.041520250478374626,92.87841987609863,93.02215957641602,1.2070863331415942
+world_model,37,1.4385250409444172,1.4673457145690918,0.09486579942238167,0.2628129993875821,0.262735903263092,0.0010073447928190316,0.0487985480576753,0.04898979701101775,0.0031088956719885863,0.04975084029138083,0.05007787421345705,0.0015919970795716784,0.6541509081919988,0.662196546792984,0.057096894576805314,0.6182190130154291,0.6172440946102142,0.04205036542649134,86.86246299743652,86.86222457885742,1.2065787844155893
+world_model,38,1.436251739660899,1.4682625532150269,0.11225934036134495,0.25381920238335925,0.2539842873811722,0.0010374200521092404,0.051327839183310624,0.05154173076152795,0.0035360186657352544,0.0538447834551334,0.0542189925909042,0.00199786070826667,0.6809198955694834,0.6877220869064331,0.05487864241496055,0.6433623731136322,0.6441097259521484,0.042935421058162164,80.93583488464355,80.90459442138672,1.2057663102568594
+world_model,39,1.4298213919003804,1.4676144123077395,0.11732654784691347,0.2440618885060151,0.24405788630247116,0.0014097292019671936,0.05414310532311595,0.05446803011000155,0.003961568200895057,0.05661621162046985,0.057282162830233546,0.0024994599099481076,0.708844929933548,0.7144108712673187,0.052291763834288296,0.6698428690433502,0.6701310873031616,0.043600020399009856,75.11131350199382,75.06953048706055,1.1420389516865004
+world_model,40,1.4188731114069622,1.4677588939666748,0.12439854465158756,0.23421188195546463,0.2341009229421615,0.0011866237175469207,0.05719987365106737,0.05765877850353715,0.004456890236754572,0.05870696684966479,0.05963923968374725,0.00300957041348904,0.7379979640245438,0.7422708868980408,0.04925567203130382,0.6973087837298712,0.6974075138568878,0.04393854860389435,69.27089945475261,69.35334396362305,1.074234858967123
+world_model,41,1.4057077169418335,1.4674110412597656,0.12862998858514457,0.2244186662137508,0.22448483109474182,0.0013352338300763509,0.06220283204068735,0.06301098875701419,0.005168617463091805,0.0635673052941759,0.06497442349791525,0.0037578492636894307,0.7687370975812277,0.7712360620498657,0.04583153083755798,0.7268570611874262,0.7238173484802246,0.04410336880692837,63.47159767150879,63.5395450592041,1.0584542776521684
+world_model,42,1.4103831052780151,1.46700918674469,0.1339918699854701,0.21433634931842482,0.2139683291316032,0.0014279735553069752,0.0644552869101365,0.06520366296172135,0.005846919443537388,0.06720244325697418,0.0689549669623375,0.004655024682267929,0.7999595204989115,0.7987347543239594,0.04171813232237662,0.7577285965283712,0.7517720758914948,0.04355589473521338,57.651058197021484,57.557512283325195,1.067280225848488
+world_model,43,1.4270867109298706,1.4665404558181765,0.11192417303119077,0.20403253535429633,0.20396403223276133,0.0015162379760649107,0.06787529122084375,0.06902862340211866,0.006692557855103727,0.07183296543856457,0.0736388228833675,0.005810328139076703,0.8315977801879247,0.8272259533405304,0.03700778393884346,0.7901623050371805,0.7819044888019562,0.04217064267691089,51.899886767069496,51.93665885925293,1.0694589940678265
+world_model,44,1.4347126682599385,1.466606616973877,0.10306881915348108,0.19384852175911263,0.1937465742230415,0.0011002756644504675,0.07093184596548474,0.0724252834916114,0.007581355346138293,0.07704428831736243,0.07883648574352264,0.0072738623259811395,0.8629621913035711,0.8580740988254547,0.03179254052689815,0.8237915982802709,0.8153528869152069,0.0397732179887254,46.11784013112386,46.21107292175293,1.0253161466920588
+world_model,45,1.4115176399548848,1.4678988456726074,0.13359588783653134,0.18335435042778647,0.1833006665110588,0.001218909705169825,0.07487577820817626,0.0768309123814106,0.00865417542930398,0.0812861211597919,0.0829697623848915,0.008924499253229162,0.8937167475620905,0.8912018537521362,0.026108779614383,0.8578267792860667,0.8521344363689423,0.03601665730012531,40.38371276855469,40.44478416442872,0.9467611556674795
+world_model,46,1.4111274083455403,1.46538507938385,0.12463675788267987,0.17283720274766282,0.17284329980611796,0.0011003394159631757,0.07834099233150478,0.08043632656335825,0.009800845134671814,0.08844356673459208,0.08997044712305065,0.011199502586919067,0.9226573010285696,0.9217142462730408,0.020172873388308296,0.8924628843863806,0.8892766535282135,0.030757915995754725,34.62409782409668,34.79085922241211,0.8834302288349766
+world_model,47,1.4101688663164775,1.4675220251083374,0.13762283261716896,0.16210417201121644,0.1622897833585739,0.0012939810196446935,0.08415534533560272,0.08605303987860674,0.011435482840254214,0.09749905702968435,0.09889392927289005,0.014456273360278129,0.9494641671578089,0.9487259685993195,0.014063167243331419,0.9267395784457525,0.9256128370761871,0.023749223862069315,28.766208171844482,29.07882785797119,0.8281759998008266
+world_model,48,1.3987409869829814,1.464216947555542,0.12802444269328433,0.15100901325543717,0.15112826973199844,0.0011280228441971692,0.09033095029493167,0.09227505326271054,0.013321370401302008,0.10792494751513,0.10881870985031125,0.018726131360252633,0.9726083328326544,0.9717178642749786,0.008189855705555778,0.9585296362638474,0.9586951732635498,0.015271720606733914,22.67184893290202,22.892109870910645,0.668928478033222
+world_model,49,1.4008553226788838,1.4667407274246216,0.13767326066641292,0.13837811847527817,0.1381829753518104,0.001112069752917689,0.09983287379145618,0.10353966057300565,0.016215987673148385,0.11821680267651873,0.11845642328262325,0.02365993857264561,0.9904270271460215,0.98991721868515,0.0031069654865358417,0.9841274817784628,0.9845925867557526,0.0066748099834931015,15.711387793223063,15.84679365158081,0.5082666093179643
+world_model,50,1.4118831753730774,1.4677016735076904,0.13368374871740946,0.11394384751717246,0.1136066205799579,0.0015333613038046973,0.13881683349609372,0.14654378592967984,0.025851305275253436,0.17834862383703387,0.17743241786956782,0.04288197473610506,1.0000000298023224,1.0,9.677936327139944e-08,1.0,1.0,9.163690985814425e-08,0.0,0.0,0.0

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,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,9,73.6591808795929,71.85442113876343,147.28911876678467,138.08963012695312,0.11540991067886353,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,10,72.7836606502533,73.73361539840698,149.64506363868713,116.83860778808594,0.12825125455856323,
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,11,72.24943947792053,73.48827171325684,147.49054408073425,165.6450653076172,0.21951419115066528,

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"