video_backbone剖析

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
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+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 @@
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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

@@ -0,0 +1,26 @@
+block_stage,block_name,block_index,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50,mid_mean_rel_l2_delta_vs_prev,mid_mean_cosine_vs_prev,mid_mean_forward_time_ms,tail_mean_rel_l2_delta_vs_prev,tail_mean_cosine_vs_prev,tail_mean_forward_time_ms
+output_blocks,output_5,5,40.30600001104176,0.07424595491729107,0.9978543047228196,14992.717945223721,0.8542837543921037,0.06805019055642345,0.9986008080569181,40.302541466768496,0.047652576457370366,0.9999622111970728,40.72485751133751
+output_blocks,output_4,4,38.080781668593936,0.08642426159765035,0.9958082048260436,2957.2041925881126,0.8080604154684327,0.08421756147338452,0.996300181398144,38.20055009478711,0.05573495308106591,0.9985793325034055,38.91625686294653
+output_blocks,output_3,3,38.43397183640098,0.09250370155612145,0.9952302734904918,3060.3711755371096,0.8026768178289587,0.09244359002420392,0.9955291416479911,38.81973216463348,0.0591791972179304,0.9983712329105897,38.9416516631503
+output_blocks,output_2,2,4.203701027753678,0.09137489838812475,0.9953451827859613,3606.0498737404564,0.7830393203822049,0.08808990133305386,0.995942129459216,4.195578110069682,0.059519522687928206,0.9983943538232283,4.28258259780705
+output_blocks,output_1,1,3.3372188554230062,0.10800083809236755,0.9934082725163073,1412.8108868963068,0.7369476676529104,0.107915337459543,0.9937602771825088,3.3771630963189647,0.06987590529024597,0.9975565972653302,3.3194192304191263
+output_blocks,output_0,0,3.429651934738186,0.11093722168763955,0.993079345279368,1640.254585723877,0.7372313263470476,0.11102681995663803,0.9934070663792747,3.589113329605752,0.07142288469794118,0.9974490214477886,3.3163734690540214
+output_blocks,output_6,6,40.6641822964461,0.09676676388684802,0.9951365732748566,7144.494426935369,0.8271069422635166,0.08897464989293442,0.996182621170432,41.026938741913796,0.07426767603240225,0.9976629585027694,40.46990792690353
+middle_block,middle,0,24.702236674387347,0.11546830409975349,0.992583174265382,2010.486007787531,0.7406484127044678,0.1174934316281374,0.9926540745801223,24.89245473407209,0.07542458674447099,0.9971520776098425,24.817648800936613
+input_blocks,input_7,7,38.41519514437426,0.10886899768573562,0.9936545515546993,1603.4049312106047,0.8162635827064514,0.11071356224678292,0.9936723225302511,38.47269122428321,0.07578794385560529,0.997268594936891,38.89047441030429
+input_blocks,input_11,11,2.5827501180835744,0.11662656739907049,0.9924228371074337,1722.0765785217286,0.7539892436970363,0.11981556909682942,0.9923575057353808,2.6117673756562785,0.07730753370984031,0.997005215829069,2.569907778789374
+input_blocks,input_10,10,2.72361038337377,0.11654036492800443,0.992433423401031,1607.604853695956,0.7628968893668868,0.12067004609288587,0.9922557594456198,2.6563743292656423,0.07742048667913129,0.9969992900436575,2.8803871330720456
+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"