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,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,