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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/case3/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-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,
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-vid100-fs6 unitree_g1_pack_camera 0 34.73047733306885 34.12665319442749 143.00190567970276
3 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 1 34.77882504463196 35.024171590805054 142.87922620773315 238.14430236816406 0.34216785430908203
4 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 2 34.65710210800171 34.31918025016785 141.75025510787964 244.6288299560547 0.10849124193191528
5 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 3 34.64808392524719 34.763160705566406 142.0598931312561 250.288330078125 0.4585834741592407
6 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 4 34.43521761894226 34.34122323989868 141.00554966926575 224.81471252441406 0.6429577469825745
7 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 5 34.357038497924805 34.85403919219971 141.1495542526245 195.2209014892578 0.1021263599395752
8 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 6 35.0233428478241 34.67922353744507 144.0218186378479 226.24966430664062 0.08848029375076294
9 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 7 34.45149564743042 34.6253707408905 143.35860419273376 245.75660705566406 0.17197155952453613
10 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 8 34.7300283908844 34.399852991104126 143.3491985797882 238.90292358398438 0.6555709540843964
11 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 9 34.11410880088806 34.445759534835815 142.07709193229675 226.96424865722656 0.0632086992263794
12 unitree_g1_pack_camera-vid100-fs6 unitree_g1_pack_camera 10 34.794456481933594 34.530436992645264 141.20812225341797 223.38699340820312 0.012062489986419678

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unitree_g1_pack_camera/case3/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-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,
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-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
3 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

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unitree_g1_pack_camera/case3/output/sparse_8/inference/stepwise_log.csv Normal file
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