早停特征验证，早停不通

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

@@ -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,71.93434079488118,71.93434079488118,,,,,,,,,,,46.0,46.0,,47.75,47.75,,47.75,47.75,,48.5,48.5,,144.97076398134232,144.97076398134232,,71.93434079488118,71.93434079488118,,70.38248016436894,70.38248016436894,,172.73077670010653,172.73077670010653,,0.2953623858365146,0.2953623858365146,
+unitree_z1_stackbox,world_model,70.38248016436894,70.38248016436894,,,,,,,,,,,46.25,46.25,,47.91666666666666,47.91666666666666,,47.91666666666666,47.91666666666666,,48.5,48.5,,144.97076398134232,144.97076398134232,,71.93434079488118,71.93434079488118,,70.38248016436894,70.38248016436894,,172.73077670010653,172.73077670010653,,0.2953623858365146,0.2953623858365146,

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

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