video_backbone剖析

2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
--- a/sparse_head_simulation/min_head_steps_needed.csv
+++ b/sparse_head_simulation/min_head_steps_needed.csv
@@ -0,0 +1,393 @@
+dataset,case,sample_id,scene,pass_type,round_id,target_threshold,action_min_head_steps_needed,state_min_head_steps_needed,action_earliest_checkpoint_zero_based,state_earliest_checkpoint_zero_based,action_max_head_compute_saving_ratio,state_max_head_compute_saving_ratio
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,9,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,10,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,1,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,4,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,5,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,6,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
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+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,0.95,1.0,1.0,47.0,48.0,0.98,0.98
--- a/sparse_head_simulation/report.md
+++ b/sparse_head_simulation/report.md
@@ -0,0 +1,108 @@
+# Sparse Head Execution Simulation
+
+This report uses zero-order hold over logged stepwise action/state outputs.
+For a sparse scheme, the final output at step 49 is approximated by the most recent checkpoint output.
+
+## Experiment 1.1
+
+### dense
+
+- Head exec count: 50
+- Head compute saving ratio: 0.0000
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### sparse_10
+
+- Head exec count: 10
+- Head compute saving ratio: 0.8000
+- Final action cosine vs dense: mean=0.9341, median=0.9357
+- Final state cosine vs dense: mean=0.9130, median=0.9207
+
+### sparse_4
+
+- Head exec count: 4
+- Head compute saving ratio: 0.9200
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### sparse_5
+
+- Head exec count: 5
+- Head compute saving ratio: 0.9000
+- Final action cosine vs dense: mean=0.7747, median=0.7703
+- Final state cosine vs dense: mean=0.7463, median=0.7481
+
+### sparse_8
+
+- Head exec count: 8
+- Head compute saving ratio: 0.8400
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_10
+
+- Head exec count: 10
+- Head compute saving ratio: 0.8000
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_6
+
+- Head exec count: 6
+- Head compute saving ratio: 0.8800
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_8
+
+- Head exec count: 8
+- Head compute saving ratio: 0.8400
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_only_4
+
+- Head exec count: 4
+- Head compute saving ratio: 0.9200
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_only_6
+
+- Head exec count: 6
+- Head compute saving ratio: 0.8800
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+## Experiment 1.2
+
+- Target threshold: 0.95
+- Action earliest checkpoint mean: 46.0179
+- State earliest checkpoint mean: 46.5357
+- Unique min head steps needed for action: [1.0]
+- Unique min head steps needed for state: [1.0]
+
+## Experiment 1.3
+
+### budget_10_uniform_vs_tail
+
+- Tail better action share: 1.0000
+- Tail better state share: 1.0000
+- Mean tail-minus-uniform action cosine: 0.0659
+- Mean tail-minus-uniform state cosine: 0.0870
+
+### budget_4_uniform_vs_tail
+
+- Tail better action share: 0.0000
+- Tail better state share: 0.0000
+- Mean tail-minus-uniform action cosine: 0.0000
+- Mean tail-minus-uniform state cosine: 0.0000
+
+### budget_8_uniform_vs_tail
+
+- Tail better action share: 0.0000
+- Tail better state share: 0.0000
+- Mean tail-minus-uniform action cosine: 0.0000
+- Mean tail-minus-uniform state cosine: 0.0000
+
--- a/sparse_head_simulation/scheme_simulation_overall.csv
+++ b/sparse_head_simulation/scheme_simulation_overall.csv
@@ -0,0 +1,22 @@
+scheme,pass_type,final_action_cosine_vs_dense,final_action_cosine_vs_dense,final_action_cosine_vs_dense,final_state_cosine_vs_dense,final_state_cosine_vs_dense,final_state_cosine_vs_dense,head_exec_count,head_exec_count,head_exec_count,head_compute_saving_ratio,head_compute_saving_ratio,head_compute_saving_ratio
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+dense,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,50.0,50.0,0.0,0.0,0.0,0.0
+dense,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,50.0,50.0,0.0,0.0,0.0,0.0
+sparse_10,policy,0.9357762607384701,0.9370943009853362,0.018183880133080282,0.9124557038350981,0.9198094010353088,0.03185505383051429,10.0,10.0,0.0,0.8,0.8,0.0
+sparse_10,world_model,0.9325069240769561,0.9341191649436951,0.0185309603092533,0.9134697318077087,0.9217162132263184,0.032954335242965455,10.0,10.0,0.0,0.8,0.8,0.0
+sparse_4,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+sparse_4,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+sparse_5,policy,0.7812822941614657,0.7787671983242035,0.03869909771001223,0.7465329766273499,0.7454181015491486,0.05109581488207182,5.0,5.0,0.0,0.9,0.9,0.0
+sparse_5,world_model,0.7681533368874569,0.7654141485691071,0.03844469190746414,0.7460347663383095,0.7492875158786774,0.05257641591339498,5.0,5.0,0.0,0.9,0.9,0.0
+sparse_8,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,8.0,8.0,0.0,0.84,0.84,0.0
+sparse_8,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_heavy_10,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,10.0,10.0,0.0,0.8,0.8,0.0
+tail_heavy_10,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,10.0,10.0,0.0,0.8,0.8,0.0
+tail_heavy_6,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_heavy_6,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_heavy_8,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_heavy_8,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_only_4,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+tail_only_4,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+tail_only_6,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_only_6,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
--- a/sparse_head_simulation/scheme_simulation_per_case.csv
+++ b/sparse_head_simulation/scheme_simulation_per_case.csv
@@ -0,0 +1,401 @@
+dataset,case,scheme,pass_type,final_action_cosine_vs_dense,final_state_cosine_vs_dense,head_exec_count,head_compute_saving_ratio
+unitree_g1_pack_camera,case1,dense,policy,1.000000005418604,1.0000000216744163,50.0,0.0
+unitree_g1_pack_camera,case1,dense,world_model,1.0000000162558123,0.9999999891627919,50.0,0.0
+unitree_g1_pack_camera,case1,sparse_10,policy,0.9458914236588911,0.9406864263794639,10.0,0.8
+unitree_g1_pack_camera,case1,sparse_10,world_model,0.943276660008864,0.94043137810447,10.0,0.8
+unitree_g1_pack_camera,case1,sparse_4,policy,1.000000005418604,1.0000000216744163,4.0,0.92
+unitree_g1_pack_camera,case1,sparse_4,world_model,1.0000000162558123,0.9999999891627919,4.0,0.92
+unitree_g1_pack_camera,case1,sparse_5,policy,0.7835968299345537,0.7882764935493469,5.0,0.9
+unitree_g1_pack_camera,case1,sparse_5,world_model,0.768740404735912,0.7820447520776228,5.0,0.9
+unitree_g1_pack_camera,case1,sparse_8,policy,1.000000005418604,1.0000000216744163,8.0,0.84
+unitree_g1_pack_camera,case1,sparse_8,world_model,1.0000000162558123,0.9999999891627919,8.0,0.84
+unitree_g1_pack_camera,case1,tail_heavy_10,policy,1.000000005418604,1.0000000216744163,10.0,0.8
+unitree_g1_pack_camera,case1,tail_heavy_10,world_model,1.0000000162558123,0.9999999891627919,10.0,0.8
+unitree_g1_pack_camera,case1,tail_heavy_6,policy,1.000000005418604,1.0000000216744163,6.0,0.88
+unitree_g1_pack_camera,case1,tail_heavy_6,world_model,1.0000000162558123,0.9999999891627919,6.0,0.88
+unitree_g1_pack_camera,case1,tail_heavy_8,policy,1.000000005418604,1.0000000216744163,8.0,0.84
+unitree_g1_pack_camera,case1,tail_heavy_8,world_model,1.0000000162558123,0.9999999891627919,8.0,0.84
+unitree_g1_pack_camera,case1,tail_only_4,policy,1.000000005418604,1.0000000216744163,4.0,0.92
+unitree_g1_pack_camera,case1,tail_only_4,world_model,1.0000000162558123,0.9999999891627919,4.0,0.92
+unitree_g1_pack_camera,case1,tail_only_6,policy,1.000000005418604,1.0000000216744163,6.0,0.88
+unitree_g1_pack_camera,case1,tail_only_6,world_model,1.0000000162558123,0.9999999891627919,6.0,0.88
+unitree_g1_pack_camera,case2,dense,policy,1.0,1.0000000108372082,50.0,0.0
+unitree_g1_pack_camera,case2,dense,world_model,1.0000000433488325,1.0,50.0,0.0
+unitree_g1_pack_camera,case2,sparse_10,policy,0.9434121738780629,0.9354661919853904,10.0,0.8
+unitree_g1_pack_camera,case2,sparse_10,world_model,0.9378488930788907,0.9352135224775835,10.0,0.8
+unitree_g1_pack_camera,case2,sparse_4,policy,1.0,1.0000000108372082,4.0,0.92
+unitree_g1_pack_camera,case2,sparse_4,world_model,1.0000000433488325,1.0,4.0,0.92
+unitree_g1_pack_camera,case2,sparse_5,policy,0.7797025496309454,0.7743967554785989,5.0,0.9
+unitree_g1_pack_camera,case2,sparse_5,world_model,0.7510665926066312,0.7674615762450478,5.0,0.9
+unitree_g1_pack_camera,case2,sparse_8,policy,1.0,1.0000000108372082,8.0,0.84
+unitree_g1_pack_camera,case2,sparse_8,world_model,1.0000000433488325,1.0,8.0,0.84
+unitree_g1_pack_camera,case2,tail_heavy_10,policy,1.0,1.0000000108372082,10.0,0.8
+unitree_g1_pack_camera,case2,tail_heavy_10,world_model,1.0000000433488325,1.0,10.0,0.8
+unitree_g1_pack_camera,case2,tail_heavy_6,policy,1.0,1.0000000108372082,6.0,0.88
+unitree_g1_pack_camera,case2,tail_heavy_6,world_model,1.0000000433488325,1.0,6.0,0.88
+unitree_g1_pack_camera,case2,tail_heavy_8,policy,1.0,1.0000000108372082,8.0,0.84
+unitree_g1_pack_camera,case2,tail_heavy_8,world_model,1.0000000433488325,1.0,8.0,0.84
+unitree_g1_pack_camera,case2,tail_only_4,policy,1.0,1.0000000108372082,4.0,0.92
+unitree_g1_pack_camera,case2,tail_only_4,world_model,1.0000000433488325,1.0,4.0,0.92
+unitree_g1_pack_camera,case2,tail_only_6,policy,1.0,1.0000000108372082,6.0,0.88
+unitree_g1_pack_camera,case2,tail_only_6,world_model,1.0000000433488325,1.0,6.0,0.88
+unitree_g1_pack_camera,case3,dense,policy,0.9999999729069796,0.9999999945813959,50.0,0.0
+unitree_g1_pack_camera,case3,dense,world_model,0.9999999891627919,0.9999999729069796,50.0,0.0
+unitree_g1_pack_camera,case3,sparse_10,policy,0.9479800787839022,0.9408404772931879,10.0,0.8
+unitree_g1_pack_camera,case3,sparse_10,world_model,0.9443203156644647,0.9426048723134127,10.0,0.8
+unitree_g1_pack_camera,case3,sparse_4,policy,0.9999999729069796,0.9999999945813959,4.0,0.92
+unitree_g1_pack_camera,case3,sparse_4,world_model,0.9999999891627919,0.9999999729069796,4.0,0.92
+unitree_g1_pack_camera,case3,sparse_5,policy,0.7867171547629617,0.7888143712824042,5.0,0.9
+unitree_g1_pack_camera,case3,sparse_5,world_model,0.7702723687345331,0.7856205864386125,5.0,0.9
+unitree_g1_pack_camera,case3,sparse_8,policy,0.9999999729069796,0.9999999945813959,8.0,0.84
+unitree_g1_pack_camera,case3,sparse_8,world_model,0.9999999891627919,0.9999999729069796,8.0,0.84
+unitree_g1_pack_camera,case3,tail_heavy_10,policy,0.9999999729069796,0.9999999945813959,10.0,0.8
+unitree_g1_pack_camera,case3,tail_heavy_10,world_model,0.9999999891627919,0.9999999729069796,10.0,0.8
+unitree_g1_pack_camera,case3,tail_heavy_6,policy,0.9999999729069796,0.9999999945813959,6.0,0.88
+unitree_g1_pack_camera,case3,tail_heavy_6,world_model,0.9999999891627919,0.9999999729069796,6.0,0.88
+unitree_g1_pack_camera,case3,tail_heavy_8,policy,0.9999999729069796,0.9999999945813959,8.0,0.84
+unitree_g1_pack_camera,case3,tail_heavy_8,world_model,0.9999999891627919,0.9999999729069796,8.0,0.84
+unitree_g1_pack_camera,case3,tail_only_4,policy,0.9999999729069796,0.9999999945813959,4.0,0.92
+unitree_g1_pack_camera,case3,tail_only_4,world_model,0.9999999891627919,0.9999999729069796,4.0,0.92
+unitree_g1_pack_camera,case3,tail_only_6,policy,0.9999999729069796,0.9999999945813959,6.0,0.88
+unitree_g1_pack_camera,case3,tail_only_6,world_model,0.9999999891627919,0.9999999729069796,6.0,0.88
+unitree_g1_pack_camera,case4,dense,policy,0.9999999783255837,1.000000005418604,50.0,0.0
+unitree_g1_pack_camera,case4,dense,world_model,1.000000005418604,1.0000000162558123,50.0,0.0
+unitree_g1_pack_camera,case4,sparse_10,policy,0.9499884627082131,0.9411461407488043,10.0,0.8
+unitree_g1_pack_camera,case4,sparse_10,world_model,0.9460353851318359,0.9442069042812694,10.0,0.8
+unitree_g1_pack_camera,case4,sparse_4,policy,0.9999999783255837,1.000000005418604,4.0,0.92
+unitree_g1_pack_camera,case4,sparse_4,world_model,1.000000005418604,1.0000000162558123,4.0,0.92
+unitree_g1_pack_camera,case4,sparse_5,policy,0.797451143915003,0.786096372387626,5.0,0.9
+unitree_g1_pack_camera,case4,sparse_5,world_model,0.776059172370217,0.7922905737703497,5.0,0.9
+unitree_g1_pack_camera,case4,sparse_8,policy,0.9999999783255837,1.000000005418604,8.0,0.84
+unitree_g1_pack_camera,case4,sparse_8,world_model,1.000000005418604,1.0000000162558123,8.0,0.84
+unitree_g1_pack_camera,case4,tail_heavy_10,policy,0.9999999783255837,1.000000005418604,10.0,0.8
+unitree_g1_pack_camera,case4,tail_heavy_10,world_model,1.000000005418604,1.0000000162558123,10.0,0.8
+unitree_g1_pack_camera,case4,tail_heavy_6,policy,0.9999999783255837,1.000000005418604,6.0,0.88
+unitree_g1_pack_camera,case4,tail_heavy_6,world_model,1.000000005418604,1.0000000162558123,6.0,0.88
+unitree_g1_pack_camera,case4,tail_heavy_8,policy,0.9999999783255837,1.000000005418604,8.0,0.84
+unitree_g1_pack_camera,case4,tail_heavy_8,world_model,1.000000005418604,1.0000000162558123,8.0,0.84
+unitree_g1_pack_camera,case4,tail_only_4,policy,0.9999999783255837,1.000000005418604,4.0,0.92
+unitree_g1_pack_camera,case4,tail_only_4,world_model,1.000000005418604,1.0000000162558123,4.0,0.92
+unitree_g1_pack_camera,case4,tail_only_6,policy,0.9999999783255837,1.000000005418604,6.0,0.88
+unitree_g1_pack_camera,case4,tail_only_6,world_model,1.000000005418604,1.0000000162558123,6.0,0.88
+unitree_z1_dual_arm_cleanup_pencils,case1,dense,policy,1.0000000074505806,0.9999999850988388,50.0,0.0
+unitree_z1_dual_arm_cleanup_pencils,case1,dense,world_model,0.9999999925494194,1.000000037252903,50.0,0.0
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_10,policy,0.9469437971711159,0.9320246428251266,10.0,0.8
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_10,world_model,0.9465975016355515,0.9307577759027481,10.0,0.8
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_4,policy,1.0000000074505806,0.9999999850988388,4.0,0.92
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_4,world_model,0.9999999925494194,1.000000037252903,4.0,0.92
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_5,policy,0.8056009188294411,0.7804089784622192,5.0,0.9
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_5,world_model,0.800347164273262,0.7744432389736176,5.0,0.9
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_8,policy,1.0000000074505806,0.9999999850988388,8.0,0.84
+unitree_z1_dual_arm_cleanup_pencils,case1,sparse_8,world_model,0.9999999925494194,1.000000037252903,8.0,0.84
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_10,policy,1.0000000074505806,0.9999999850988388,10.0,0.8
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_10,world_model,0.9999999925494194,1.000000037252903,10.0,0.8
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_6,policy,1.0000000074505806,0.9999999850988388,6.0,0.88
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_6,world_model,0.9999999925494194,1.000000037252903,6.0,0.88
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_8,policy,1.0000000074505806,0.9999999850988388,8.0,0.84
+unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_8,world_model,0.9999999925494194,1.000000037252903,8.0,0.84
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--- a/sparse_head_simulation/scheme_simulation_per_round.csv
+++ b/sparse_head_simulation/scheme_simulation_per_round.csv
--- a/sparse_head_simulation/tail_vs_uniform.csv
+++ b/sparse_head_simulation/tail_vs_uniform.csv