video_backbone剖析

unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md

@@ -21,34 +21,34 @@
 
 - `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=119.6001, median=138.8359, p90=169.4805, p95=174.5434
+- `latent_l2_vs_full50`: mean=172.5522, median=175.0850, p90=194.0716, p95=200.4957
 
 ### 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=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `action_vs_full50_95pct_step`: mean=47.2727, median=47.2727, p90=47.2727, p95=47.2727
 - `share_action_first_stable_before_latent`: nan
 - `share_action_95pct_before_latent`: nan
 
 ### Direction D: Cross-Step Similarity
 
-- `latent_delta_mid_steps`: mean=0.3526, median=0.3488, p90=0.4169, p95=0.4275
-- `action_delta_mid_steps`: mean=0.0318, median=0.0300, p90=0.0453, p95=0.0481
-- `state_delta_mid_steps`: mean=0.0311, median=0.0302, p90=0.0437, p95=0.0460
+- `latent_delta_mid_steps`: mean=0.3526, median=0.3486, p90=0.4168, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0301, median=0.0287, p90=0.0431, p95=0.0455
+- `state_delta_mid_steps`: mean=0.0312, median=0.0299, p90=0.0444, p95=0.0465
 
 ### Direction A: Budget Heterogeneity
 
-- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
-- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_action`: mean=46.8182, median=46.8182, p90=46.8182, p95=46.8182
+- `oracle_budget_state`: mean=46.5455, median=46.5455, p90=46.5455, p95=46.5455
 - `oracle_budget_action_by_scene`:
-  - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000
+  - `unitree_g1_pack_camera`: mean=46.8182, median=46.8182, std=0.0000
 
 ### Direction B: Round Reuse
 
-- `latent_init_dist_to_prev_round`: mean=229.0488, median=228.5274, p90=251.0416, p95=257.7575
-- `action_drift_vs_prev_round`: mean=0.1520, median=0.1298, p90=0.2520, p95=0.3113
-- `round_total_time_s`: mean=150.0686, median=151.2592, p90=152.1900, p95=152.5157
-- `policy_pass_total_time_s`: mean=73.6966, median=74.1877, p90=74.7325, p95=74.8893
-- `world_model_pass_total_time_s`: mean=73.2965, median=74.3135, p90=74.6243, p95=74.6295
+- `latent_init_dist_to_prev_round`: mean=231.3224, median=234.0656, p90=246.2483, p95=251.1132
+- `action_drift_vs_prev_round`: mean=0.1699, median=0.1659, p90=0.2361, p95=0.3048
+- `round_total_time_s`: mean=136.4094, median=136.1244, p90=137.2721, p95=137.4062
+- `policy_pass_total_time_s`: mean=33.5494, median=33.5109, p90=33.7524, p95=33.8025
+- `world_model_pass_total_time_s`: mean=33.6186, median=33.5301, p90=33.9147, p95=34.0011
 

unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv

@@ -1,4 +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_g1_pack_camera,policy,73.69664512981068,73.69664512981068,,,,,,,,,,,44.72727272727273,44.72727272727273,,46.63636363636363,46.63636363636363,,46.63636363636363,46.63636363636363,,46.90909090909091,46.90909090909091,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,
-unitree_g1_pack_camera,world_model,73.29652458971196,73.29652458971196,,,,,,,,,,,44.81818181818182,44.81818181818182,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,
+unitree_g1_pack_camera,policy,33.54937371340665,33.54937371340665,,,,,,,,,,,45.18181818181818,45.18181818181818,,47.27272727272727,47.27272727272727,,46.81818181818182,46.81818181818182,,46.63636363636363,46.63636363636363,,136.40941752086985,136.40941752086985,,33.54937371340665,33.54937371340665,,33.61860912496393,33.61860912496393,,231.32244110107425,231.32244110107425,,0.1698735475540161,0.1698735475540161,
+unitree_g1_pack_camera,world_model,33.61860912496393,33.61860912496393,,,,,,,,,,,45.6,45.6,,47.9,47.9,,46.81818181818182,46.81818181818182,,46.54545454545455,46.54545454545455,,136.40941752086985,136.40941752086985,,33.54937371340665,33.54937371340665,,33.61860912496393,33.61860912496393,,231.32244110107425,231.32244110107425,,0.1698735475540161,0.1698735475540161,

unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv

@@ -1,102 +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
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-policy,2,1.4434247016906738,1.4676733016967771,0.08158786817391304,1.0217695019461892,1.022146463394165,0.001824396072630474,0.0322659581222317,0.031768050044775,0.004316731780854252,0.02533460374582892,0.0255975238978862,0.0036937549558425944,0.04785464704036712,0.0558408237993717,0.06438980743567607,0.07452032511884513,0.0699695125222206,0.043315148949574805,172.48740456321022,174.154052734375,9.534167371079256
-policy,3,1.43786113912409,1.4651522636413574,0.05671590586878328,0.8506037105213512,0.8505626320838928,0.0010086606911836923,0.025245838713916835,0.0244352463632822,0.004550268201634001,0.019512325694615144,0.0184436179697513,0.0031343662703750465,0.05073400078849357,0.0590319745242595,0.06447996300863185,0.07835578207265242,0.0750891640782356,0.044318088443039104,172.56313532049006,173.87869262695312,9.690644118002934
-policy,4,1.4488264864141291,1.468099594116211,0.044552895678330165,0.7504867098548196,0.7511840462684631,0.0021945251770877612,0.02099525132639838,0.019640676677227,0.004042319145546911,0.016798724505034317,0.0149918533861637,0.0038063624949669257,0.05598361282186073,0.0635371059179306,0.06475335110170251,0.08452281254259017,0.0827359408140182,0.04536336344671877,171.6457186612216,172.943359375,9.905503636485962
-policy,5,1.4445642124522815,1.4674458503723145,0.07372799549664323,0.6826241178946062,0.6820257306098938,0.0019023681820018858,0.017781017517501593,0.017315287142992,0.0030308581026791343,0.015471564521166355,0.0133354496210813,0.004392402663835177,0.06279808553782373,0.069211721420288,0.06508139799015962,0.09208766912872136,0.0918402001261711,0.046219482821702594,170.62380981445312,172.77044677734375,9.338962054224549
-policy,6,1.466492934660478,1.4663879871368408,0.0033687270242583945,0.6330396262082186,0.6331935524940491,0.0013516729387216021,0.016464014537632417,0.0159446559846401,0.0032078874005077988,0.013437864455309735,0.0125236641615629,0.0023339189416475637,0.07053967633030629,0.0757732093334198,0.06541846178548981,0.10053773190487508,0.1023101210594177,0.046871955162332835,168.18486300381747,170.33258056640625,9.372171607887697
-policy,7,1.427666967565363,1.4660284519195557,0.08700158523842721,0.5942428816448558,0.5937604308128357,0.001124248344526994,0.016398269175128457,0.0157116670161485,0.003410728232940868,0.012472847476601545,0.0122630139812827,0.000879555013906485,0.07894390093331984,0.0833557099103927,0.06584835805818573,0.10987994650548151,0.1139230579137802,0.047202640407365985,165.49650018865412,167.12269592285156,9.745938040764893
-policy,8,1.4490273649042302,1.465933322906494,0.05542063379895226,0.5634552565487948,0.563343346118927,0.001572214532005824,0.016492159190502984,0.0157064627856016,0.0036629370081121054,0.012894527732648571,0.0125679457560181,0.0009618986879934046,0.08798942443999376,0.0944317579269409,0.06640651834121733,0.1198719888925552,0.126018077135086,0.047265992601581715,163.85061506791547,164.42604064941406,8.862486787373943
-policy,9,1.4615582769567317,1.4670460224151611,0.016482098813975932,0.5372052517804232,0.5367610454559326,0.0011974870440969933,0.016172865236347325,0.0155690256506204,0.0028684121715985608,0.013472453775730954,0.0134708238765597,0.0010477335154444013,0.09774179079315877,0.1074132397770881,0.06686378931914765,0.13039620897986667,0.1371817886829376,0.047192347653569784,161.75644475763494,164.2596435546875,9.032441230705615
-policy,10,1.4682330868460916,1.4688644409179688,0.002973908248225588,0.5157344070347872,0.5156803727149963,0.0006648326260800635,0.01600063736127177,0.015865858644247,0.0018563278223038228,0.01389412564987481,0.0139034241437911,0.0011831849752165018,0.1082294354723258,0.1171060130000114,0.06706808209943918,0.1413173980333588,0.1487944573163986,0.04703540157530878,159.57703191583806,161.41839599609375,8.161955259200024
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-policy,13,1.3944514014504172,1.463942289352417,0.12456672762368926,0.463904085484418,0.4638822674751282,0.0009254639487595196,0.017500201748176,0.0174329038709402,0.0013969887789309554,0.0164489780806682,0.0162989292293787,0.0013458978078284476,0.14265764961865812,0.1463918536901474,0.06677728631295261,0.1765529716556722,0.1861822605133056,0.04658032313014798,154.0609755082564,154.27761840820312,6.49367172307826
-policy,14,1.4048242352225564,1.46488356590271,0.1058220236694414,0.45089690522714093,0.4507767856121063,0.0009440905389978208,0.01841419867493886,0.0183760710060596,0.001287685812770737,0.017479611645367935,0.0173952598124742,0.0014046531223675892,0.15498437427661632,0.1607045531272888,0.06675377396496347,0.18912358040159394,0.1977372467517852,0.04651514348934279,152.3609258478338,152.31088256835938,6.0091752639587455
-policy,15,1.4277611645785244,1.4678683280944824,0.0819439766989182,0.4388922398740595,0.4389062821865082,0.0005545063501043735,0.019208010116761327,0.0192836001515388,0.0011816608038214978,0.018187496133825944,0.0181642100214958,0.001232245709981805,0.1678163615817373,0.1763129234313964,0.06672029877459583,0.20212653685699805,0.2078979909420013,0.04649836572699284,150.93017439408735,151.2073974609375,5.894675959277396
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-policy,17,1.4636754556135698,1.468208074569702,0.010150437999621545,0.4158372906121341,0.416072279214859,0.0009608947074841405,0.020890348167581948,0.0209464989602565,0.0011682077503025034,0.020286818458275326,0.0202313587069511,0.0011274366329404306,0.19525008106773545,0.210337221622467,0.06662588347617072,0.22981125522743573,0.2305775284767151,0.04666908134476144,147.76440984552556,148.50343322753906,5.443345910374384
-policy,18,1.4572067260742188,1.46825909614563,0.030675338162887224,0.40614468130198395,0.4059847891330719,0.0010777707389740794,0.021712564778598818,0.0211981423199176,0.0012193122761240288,0.021064069122075976,0.0209606569260358,0.0011235837777786213,0.20972827280109574,0.2277120351791381,0.0664819010614877,0.24421739307316861,0.2473994940519333,0.04686996779391058,146.4822013161399,147.50584411621094,5.148172797353906
-policy,19,1.4573773470791904,1.4653725624084473,0.031940668349627006,0.396631043065678,0.3963758647441864,0.0010235556279476622,0.022997332228855607,0.0225323308259248,0.001088081640406986,0.022243836217305846,0.021995473653078,0.001069746498898891,0.22453688762404697,0.2388417422771453,0.06643885184062771,0.2592355487021533,0.2646936774253845,0.04709281018642633,145.36435213955966,146.92544555664062,4.7133686810226125
-policy,20,1.4509306387467817,1.465595006942749,0.05332726070674398,0.38735161315311084,0.3871927559375763,0.0009479926392281059,0.023931073532863046,0.0233381502330303,0.0011475342713286097,0.023039806634187646,0.0227862168103456,0.001061289081748463,0.2401528344912962,0.2504130005836487,0.0663226642380112,0.2746527005325664,0.2826161384582519,0.047316404670704484,144.3869393088601,145.30194091796875,4.469467892049171
-policy,21,1.4664982665668835,1.4681925773620603,0.004453134058271675,0.37875403599305585,0.3789002001285553,0.0009848525500639708,0.025033963336185936,0.0244611632078886,0.0011947136123963557,0.024504812095652882,0.0243097711354494,0.0010586326675911097,0.25635452162135725,0.2624239027500152,0.06618579178536307,0.29078156162392005,0.3011690378189087,0.04756199220595538,143.1748740456321,143.66708374023438,4.2734437032664365
-policy,22,1.4631663019006902,1.466644525527954,0.00841880610141408,0.37085566466504877,0.3707534968852997,0.0005286359549057222,0.02626953138546506,0.0258902423083782,0.0012070806227390347,0.025710944424975936,0.0255535263568162,0.0010291320405194334,0.2730538316748359,0.2750413119792938,0.06612727818353031,0.307493507862091,0.3204559683799743,0.04788134879200058,142.28702198375356,142.88278198242188,4.1287126218864385
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-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,5,74.7325496673584,74.31347179412842,152.19000148773193,207.3344268798828,0.04424440860748291,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,6,73.2101833820343,73.87332224845886,150.26363015174866,230.59576416015625,0.2387702465057373,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,7,74.03829026222229,74.11333274841309,151.28116488456726,264.4734802246094,0.3706701993942261,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,8,72.93115448951721,74.62432265281677,151.0261468887329,218.65711975097656,0.09988278150558472,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,9,74.60982584953308,68.8978283405304,146.2382218837738,247.96261596679688,0.14695966243743896,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,10,69.33188319206238,68.21298360824585,140.671804189682,249.54913330078125,0.11264693737030029,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,0,33.611624240875244,34.08755350112915,137.2721483707428,,,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,1,33.85250473022461,33.91472029685974,137.54015183448792,214.96084594726562,0.18166154623031616,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,2,33.75244617462158,33.62014126777649,137.18953275680542,240.2042236328125,0.19001662731170654,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,3,33.52527594566345,33.530078172683716,136.1212797164917,206.36373901367188,0.02651798725128174,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,4,33.39732813835144,33.489410638809204,135.91671419143677,216.5181121826172,0.1665964126586914,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,5,33.47249174118042,33.59989905357361,136.12437462806702,228.9165802001953,0.373574435710907,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,6,33.53043866157532,33.48976278305054,136.1382839679718,239.2146759033203,0.2208324670791626,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,7,33.510878801345825,33.56129765510559,136.194073677063,245.16720581054688,0.13505703210830688,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,8,33.4688138961792,33.51669669151306,136.05504417419434,255.97816467285156,0.1348034143447876,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,9,33.46222972869873,33.503395318984985,136.02690505981445,243.15744018554688,0.10453599691390991,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,10,33.459078788757324,33.49174499511719,135.9250843524933,222.74342346191406,0.1651395559310913,

unitree_g1_pack_camera/case1/output/inference/sample_summary.csv

@@ -1,3 +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_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,73.69664512981068,,,,44.72727272727273,46.63636363636363,46.63636363636363,46.90909090909091,,229.04884490966796,0.15200899243354798,150.06858123432505,73.69664512981068,73.29652458971196,
-unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,73.29652458971196,,,,44.81818181818182,46.72727272727273,46.72727272727273,46.72727272727273,,229.04884490966796,0.15200899243354798,150.06858123432505,73.69664512981068,73.29652458971196,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,33.54937371340665,,,,45.18181818181818,47.27272727272727,46.81818181818182,46.63636363636363,,231.32244110107422,0.16987354755401612,136.40941752086985,33.54937371340665,33.61860912496393,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,33.61860912496393,,,,45.6,47.9,46.81818181818182,46.54545454545455,,231.32244110107422,0.16987354755401612,136.40941752086985,33.54937371340665,33.61860912496393,

unitree_g1_pack_camera/case1/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,0,35.013712882995605,34.73551678657532,143.6849582195282,,,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,1,35.05562353134155,34.18100881576538,143.12280178070068,214.95654296875,0.1811339259147644,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,2,34.80648851394653,34.815757036209106,143.93157863616943,240.22900390625,0.18993812799453735,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,3,35.42078423500061,34.078826665878296,143.7456750869751,206.12351989746094,0.026802361011505127,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,4,34.88056492805481,34.83683705329895,145.21864223480225,216.09486389160156,0.16485852003097534,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,5,34.707502365112305,34.06549119949341,142.62004137039185,227.89527893066406,0.3844761848449707,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,6,34.08131694793701,34.453927993774414,141.4016900062561,236.65484619140625,0.21243447065353394,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,7,35.12070393562317,35.34656286239624,145.56022691726685,246.84864807128906,0.1723371148109436,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,8,34.99006509780884,34.1045401096344,142.48975276947021,236.0821533203125,0.10035890340805054,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,9,34.99584174156189,35.086113691329956,143.1674451828003,235.0965576171875,0.1056985855102539,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,10,35.301815032958984,34.37025237083435,144.55097150802612,241.2891845703125,0.16251075267791748,

unitree_g1_pack_camera/case1/output/sparse_8/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_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,34.943129019303754,,,,45.36363636363637,47.36363636363637,46.81818181818182,46.72727272727273,,230.12705993652344,0.17005489468574525,143.59034397385338,34.943129019303754,34.55225768956271,
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,34.55225768956271,,,,45.9,48.0,46.81818181818182,46.54545454545455,,230.12705993652344,0.17005489468574525,143.59034397385338,34.943129019303754,34.55225768956271,

unitree_g1_pack_camera/case1/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case1"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,0,34.508949756622314,34.254820823669434,140.46258544921875,,,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,1,34.90244817733765,34.26566195487976,141.24445700645447,216.52996826171875,0.24411267042160034,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,2,34.450573444366455,33.74520945549011,140.44232392311096,210.6576385498047,0.211828351020813,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,3,34.227173805236816,34.19744801521301,139.57855439186096,231.77476501464844,0.10076236724853516,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,4,34.42516374588013,33.859012603759766,140.9917664527893,196.30520629882812,0.24305355548858643,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,5,34.275354862213135,34.270713329315186,143.11559915542603,270.99072265625,0.9365180283784866,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,6,34.44929575920105,33.572381019592285,141.9271743297577,227.52503967285156,0.14944738149642944,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,7,34.52991771697998,34.2509183883667,141.21305179595947,256.9947509765625,0.1445719599723816,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,8,34.30908131599426,33.91361689567566,140.56905364990234,263.05572509765625,0.0568811297416687,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,9,34.12396168708801,34.13224148750305,139.65425729751587,249.03759765625,0.11548089981079102,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,10,34.32340431213379,34.3162624835968,142.47088241577148,246.99588012695312,0.5883344411849976,

unitree_g1_pack_camera/case2/output/sparse_8/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_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,34.41139314391396,,,,45.90909090909091,47.81818181818182,47.0,47.09090909090909,,236.98672943115236,0.279099078476429,141.06088235161522,34.41139314391396,34.07075331427834,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,34.07075331427834,,,,46.27272727272727,47.77777777777778,47.0,47.09090909090909,,236.98672943115236,0.279099078476429,141.06088235161522,34.41139314391396,34.07075331427834,

unitree_g1_pack_camera/case2/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case2"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case3/backbone_profile_dense/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- 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=118.1510, median=137.4783, p90=165.7335, p95=172.5465
+
+### 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=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3528, median=0.3487, p90=0.4164, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0317, median=0.0304, p90=0.0455, p95=0.0480
+- `state_delta_mid_steps`: mean=0.0317, median=0.0308, p90=0.0444, p95=0.0465
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_state`: mean=46.8182, median=46.8182, p90=46.8182, p95=46.8182
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.7273, median=46.7273, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=226.9825, median=228.4588, p90=251.2165, p95=255.6648
+- `action_drift_vs_prev_round`: mean=0.2812, median=0.1662, p90=0.6238, p95=0.6602
+- `round_total_time_s`: mean=559.6007, median=588.8439, p90=625.1090, p95=625.4309
+- `policy_pass_total_time_s`: mean=231.2165, median=252.6857, p90=269.4816, p95=270.8949
+- `world_model_pass_total_time_s`: mean=239.7890, median=256.9119, p90=265.6770, p95=268.7066
+

unitree_g1_pack_camera/case3/backbone_profile_dense/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_g1_pack_camera,policy,231.21650622107765,231.21650622107765,,,,,,,,,,,44.90909090909091,44.90909090909091,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,46.54545454545455,46.54545454545455,,559.6006835373965,559.6006835373965,,231.21650622107765,231.21650622107765,,239.78899411721665,239.78899411721665,,226.98248596191405,226.98248596191405,,0.2811613976955414,0.2811613976955414,
+unitree_g1_pack_camera,world_model,239.78899411721665,239.78899411721665,,,,,,,,,,,45.18181818181818,45.18181818181818,,46.90909090909091,46.90909090909091,,46.90909090909091,46.90909090909091,,46.81818181818182,46.81818181818182,,559.6006835373965,559.6006835373965,,231.21650622107765,231.21650622107765,,239.78899411721665,239.78899411721665,,226.98248596191405,226.98248596191405,,0.2811613976955414,0.2811613976955414,

unitree_g1_pack_camera/case3/backbone_profile_dense/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
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unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 27500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=29.5324, median=33.0049, p90=53.1777
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.144351, median=0.122058, p90=0.238142
+- `cosine_vs_prev`: mean=0.986104, median=0.993058, p90=0.998209
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.047653, mean_forward_time_ms=40.3060
+- `output_4` (output_blocks): tail_rel_l2=0.055735, mean_forward_time_ms=38.0808
+- `output_3` (output_blocks): tail_rel_l2=0.059179, mean_forward_time_ms=38.4340
+- `output_2` (output_blocks): tail_rel_l2=0.059520, mean_forward_time_ms=4.2037
+- `output_1` (output_blocks): tail_rel_l2=0.069876, mean_forward_time_ms=3.3372
+- `output_0` (output_blocks): tail_rel_l2=0.071423, mean_forward_time_ms=3.4297
+- `output_6` (output_blocks): tail_rel_l2=0.074268, mean_forward_time_ms=40.6642
+- `middle` (middle_block): tail_rel_l2=0.075425, mean_forward_time_ms=24.7022
+- `input_7` (input_blocks): tail_rel_l2=0.075788, mean_forward_time_ms=38.4152
+- `input_11` (input_blocks): tail_rel_l2=0.077308, mean_forward_time_ms=2.5828

unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

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+input_blocks,input_9,9,0.743831817314706,0.11526945793175296,0.9926486552756881,1536.432679124312,0.7748632244901223,0.11962514901251499,0.9924179907743033,0.7319237524845126,0.07781377817419437,0.9969735102220015,0.7902192989025604
+input_blocks,input_8,8,38.62152510364963,0.12054014859067924,0.9921188446276705,1432.7270319019665,0.7689293622428721,0.12640916643204622,0.9916752894203384,38.860303962611276,0.08097956512462004,0.9968675247647546,38.43976048837331
+output_blocks,output_8,8,42.76750654659488,0.1041652080542468,0.9972895507688646,13048.933399103338,0.8096005897088484,0.08988681350112988,0.9990433824784828,43.00354546020654,0.08253373083743178,1.000350392406637,42.880791404538535
+input_blocks,input_5,5,42.64259841631759,0.0933007191182399,0.9968145641745353,1739.4882183283025,0.8823152181235226,0.09050172304500745,0.9971030238386872,42.54317751609886,0.08911182880401607,0.9969788096167824,43.56268527282571
+output_blocks,output_7,7,40.16711385920644,0.11893464999484214,0.9925614916106102,4740.665635986328,0.7864092644778164,0.10539288993005624,0.9945139388243357,40.24617651223459,0.09765800244428892,0.9955882240425457,40.67105716306039
+input_blocks,input_6,6,0.595384887419641,0.13015179072743438,0.9910717374871525,1809.7961725408381,0.8091255191239444,0.12847564540384132,0.991497116687494,0.6085407196491699,0.09858578338541762,0.995211638103832,0.6194137735292315
+output_blocks,output_9,9,48.49497906059366,0.16689521762678924,0.9861997717054966,6137.993441606001,0.7435040426796133,0.14370292125197198,0.9905036210497736,48.337520912563775,0.15144165066832843,0.989499507708983,48.45326270442456
+input_blocks,input_4,4,43.2311917447739,0.1817058995504326,0.9832322480837798,2011.190616011186,0.7216005914861505,0.16583138326932856,0.9864331201299444,43.43364972548632,0.15901249613274224,0.9877330124378204,43.76259167805653
+output_blocks,output_10,10,48.60783339351077,0.19811972225143645,0.9799721469352771,4502.460150035511,0.6995518704977902,0.17081736489420843,0.9862495191169508,48.90580477850165,0.175770029425621,0.9854899059642445,48.58748410743746
+input_blocks,input_0,0,30.3599044511264,0.36612097531944127,0.9117056313134965,1307.8138972611862,0.5234270588918166,0.32535993975478333,0.9471129615069468,30.35658905665628,0.1798567053269256,0.9853965935381976,30.3359796801074
+input_blocks,input_3,3,0.6927925035018813,0.22364106857267954,0.9736635546737346,2157.1204280783913,0.6818592004342513,0.1956160919361816,0.9808968563616534,0.6883892591526627,0.19636715982447966,0.9810252604159442,0.7262287428602576
+input_blocks,input_1,1,58.22319687090137,0.25090528344510876,0.9659175354164916,1829.0903750887785,0.6146969364989887,0.2160034192266402,0.9781726463274523,58.35200590484683,0.2002870954573154,0.9814362926916642,58.548310157758266
+input_blocks,input_2,2,57.37443873701109,0.2518176541478824,0.9677503171458094,2288.248785289418,0.6070540508086031,0.21795401306121379,0.9776382349528275,57.39882213438486,0.23765106031840494,0.9729208079251376,57.36874400384047
+output_blocks,output_11,11,48.90883109235967,0.16944817667878845,0.9847041587440335,18168.413182705965,0.46862712654200467,0.1436156316527298,0.9913680543115129,48.581788756832225,0.2646951804784211,0.9647044910625978,49.03405244165862

unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
+window,block_stage,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50
+all,input_blocks,26.35053501482065,0.17295741061803846,0.9794528250217935,1753.749547254389,0.7264184064892205
+all,middle_block,24.702236674387347,0.11546830409975349,0.992583174265382,2010.486007787531,0.7406484127044678
+all,output_blocks,33.116814298555255,0.11815138456101215,0.9922157730550109,6784.364074673508,0.754753261520104
+mid,input_blocks,26.392852913381326,0.16141464238150463,0.9851027356425749,1838.957427945488,0.7266639219583543
+mid,middle_block,24.89245473407209,0.1174934316281374,0.9926540745801223,2007.7355251559964,0.773752135631842
+mid,output_blocks,33.21553778536967,0.10784447266052313,0.9942833950896284,6864.791992176491,0.7592755320816587
+tail,input_blocks,26.541225201534953,0.12918178639939107,0.9904847125438127,880.7333542390303,0.9334695872032281
+tail,middle_block,24.817648800936613,0.07542458674447099,0.9971520776098425,731.289155925404,0.9663700651038777
+tail,output_blocks,33.29980809022813,0.10081260910991462,0.9936340190695994,3178.3527087298307,0.9287726470466816

unitree_g1_pack_camera/case3/backbone_profile_dense/inference/round_summary.csv

@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,0,272.30813097953796,258.77083349227905,625.7526919841766,,,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,1,186.9196274280548,263.2243719100952,540.1022210121155,221.82896423339844,0.33534055948257446,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,2,244.72048449516296,254.23945784568787,588.8439288139343,235.9840545654297,0.1256718635559082,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,3,263.5875928401947,254.7561550140381,607.7824947834015,199.4680633544922,0.18907040357589722,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,4,217.18552041053772,256.91192841529846,562.6434659957886,260.11322021484375,0.6156945526599884,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,5,252.68572807312012,261.74088191986084,602.5384485721588,190.06353759765625,0.43064773082733154,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,6,255.90784645080566,249.05019426345825,593.9222755432129,228.24305725097656,0.09470903873443604,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,7,226.4355342388153,271.73611545562744,585.1254336833954,228.67453002929688,0.14335262775421143,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,8,269.48164653778076,265.67703223228455,625.1090137958527,250.22793579101562,0.6966221630573273,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,9,259.6198160648346,210.60337662696838,558.2484686374664,248.954345703125,0.14137792587280273,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,10,94.52964091300964,90.96858811378479,265.539076089859,206.26715087890625,0.03912711143493652,

unitree_g1_pack_camera/case3/backbone_profile_dense/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_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,231.21650622107765,,,,44.90909090909091,46.72727272727273,46.72727272727273,46.54545454545455,,226.98248596191405,0.2811613976955414,559.6006835373965,231.21650622107765,239.78899411721662,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,239.78899411721662,,,,45.18181818181818,46.90909090909091,46.90909090909091,46.81818181818182,,226.98248596191405,0.2811613976955414,559.6006835373965,231.21650622107765,239.78899411721662,

unitree_g1_pack_camera/case3/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,0,34.73047733306885,34.12665319442749,143.00190567970276,,,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,1,34.77882504463196,35.024171590805054,142.87922620773315,238.14430236816406,0.34216785430908203,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,2,34.65710210800171,34.31918025016785,141.75025510787964,244.6288299560547,0.10849124193191528,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,3,34.64808392524719,34.763160705566406,142.0598931312561,250.288330078125,0.4585834741592407,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,4,34.43521761894226,34.34122323989868,141.00554966926575,224.81471252441406,0.6429577469825745,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,5,34.357038497924805,34.85403919219971,141.1495542526245,195.2209014892578,0.1021263599395752,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,6,35.0233428478241,34.67922353744507,144.0218186378479,226.24966430664062,0.08848029375076294,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,7,34.45149564743042,34.6253707408905,143.35860419273376,245.75660705566406,0.17197155952453613,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,8,34.7300283908844,34.399852991104126,143.3491985797882,238.90292358398438,0.6555709540843964,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,9,34.11410880088806,34.445759534835815,142.07709193229675,226.96424865722656,0.0632086992263794,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,10,34.794456481933594,34.530436992645264,141.20812225341797,223.38699340820312,0.012062489986419678,

unitree_g1_pack_camera/case3/output/sparse_8/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_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,34.610925154252485,,,,45.54545454545455,47.45454545454545,46.72727272727273,46.72727272727273,,231.43575134277344,0.26456206738948823,142.35101996768606,34.610925154252485,34.555370179089635,
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,34.555370179089635,,,,45.90909090909091,48.0,46.90909090909091,46.72727272727273,,231.43575134277344,0.26456206738948823,142.35101996768606,34.610925154252485,34.555370179089635,

unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_g1_pack_camera/case3" \
+    "unitree_g1_pack_camera" \
+    "6" \
+    "11"

unitree_g1_pack_camera/case3/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case3"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"

unitree_g1_pack_camera/case4/output/sparse_8/inference/round_summary.csv

@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,0,34.357739210128784,34.586522579193115,140.96898198127747,,,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,1,34.29071259498596,35.00397062301636,141.79955863952637,229.6180419921875,0.32235634326934814,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,2,34.918580293655396,34.66921854019165,145.18225049972534,231.34951782226562,0.08397442102432251,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,3,33.87128400802612,34.726802349090576,141.85736179351807,220.95947265625,0.16776376962661743,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,4,34.74736452102661,34.61718559265137,141.8124771118164,257.54010009765625,0.5236250162124634,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,5,33.95931363105774,34.89797496795654,140.93837070465088,257.5311279296875,0.28147268295288086,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,6,34.651822328567505,34.53969979286194,141.137797832489,236.1876983642578,0.1898796558380127,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,7,34.88510847091675,34.01325011253357,139.92974042892456,259.3033752441406,0.1549433469772339,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,8,34.31177830696106,34.80933094024658,142.9210181236267,282.3804016113281,0.5841841697692871,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,9,34.6734459400177,33.96956968307495,141.88233709335327,262.050048828125,0.22107374668121338,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,10,34.9462194442749,34.84579944610596,142.91395735740662,199.34121704101562,0.014238595962524414,

unitree_g1_pack_camera/case4/output/sparse_8/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_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,34.51030624996532,,,,45.81818181818182,47.6,46.63636363636363,46.72727272727273,,243.6261001586914,0.25435117483139036,141.94035014239225,34.51030624996532,34.607211329720236,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,34.607211329720236,,,,46.36363636363637,47.77777777777778,46.81818181818182,46.81818181818182,,243.6261001586914,0.25435117483139036,141.94035014239225,34.51030624996532,34.607211329720236,

unitree_g1_pack_camera/case4/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case4"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"