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video_backbone剖析

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qhy
2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
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12
unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv Normal file
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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,
1 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
2 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 0 34.508949756622314 34.254820823669434 140.46258544921875
3 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 1 34.90244817733765 34.26566195487976 141.24445700645447 216.52996826171875 0.24411267042160034
4 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 2 34.450573444366455 33.74520945549011 140.44232392311096 210.6576385498047 0.211828351020813
5 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 3 34.227173805236816 34.19744801521301 139.57855439186096 231.77476501464844 0.10076236724853516
6 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 4 34.42516374588013 33.859012603759766 140.9917664527893 196.30520629882812 0.24305355548858643
7 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 5 34.275354862213135 34.270713329315186 143.11559915542603 270.99072265625 0.9365180283784866
8 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 6 34.44929575920105 33.572381019592285 141.9271743297577 227.52503967285156 0.14944738149642944
9 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 7 34.52991771697998 34.2509183883667 141.21305179595947 256.9947509765625 0.1445719599723816
10 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 8 34.30908131599426 33.91361689567566 140.56905364990234 263.05572509765625 0.0568811297416687
11 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 9 34.12396168708801 34.13224148750305 139.65425729751587 249.03759765625 0.11548089981079102
12 unitree_g1_pack_camera-vid50-fs6 unitree_g1_pack_camera 10 34.32340431213379 34.3162624835968 142.47088241577148 246.99588012695312 0.5883344411849976

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unitree_g1_pack_camera/case2/output/sparse_8/inference/sample_summary.csv Normal file
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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,
1 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
2 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
3 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

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unitree_g1_pack_camera/case2/output/sparse_8/inference/stepwise_log.csv Normal file
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