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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/case4/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-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,
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-vid200-fs6 unitree_g1_pack_camera 0 34.357739210128784 34.586522579193115 140.96898198127747
3 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 1 34.29071259498596 35.00397062301636 141.79955863952637 229.6180419921875 0.32235634326934814
4 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 2 34.918580293655396 34.66921854019165 145.18225049972534 231.34951782226562 0.08397442102432251
5 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 3 33.87128400802612 34.726802349090576 141.85736179351807 220.95947265625 0.16776376962661743
6 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 4 34.74736452102661 34.61718559265137 141.8124771118164 257.54010009765625 0.5236250162124634
7 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 5 33.95931363105774 34.89797496795654 140.93837070465088 257.5311279296875 0.28147268295288086
8 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 6 34.651822328567505 34.53969979286194 141.137797832489 236.1876983642578 0.1898796558380127
9 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 7 34.88510847091675 34.01325011253357 139.92974042892456 259.3033752441406 0.1549433469772339
10 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 8 34.31177830696106 34.80933094024658 142.9210181236267 282.3804016113281 0.5841841697692871
11 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 9 34.6734459400177 33.96956968307495 141.88233709335327 262.050048828125 0.22107374668121338
12 unitree_g1_pack_camera-vid200-fs6 unitree_g1_pack_camera 10 34.9462194442749 34.84579944610596 142.91395735740662 199.34121704101562 0.014238595962524414

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unitree_g1_pack_camera/case4/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-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,
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-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
3 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

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unitree_g1_pack_camera/case4/output/sparse_8/inference/stepwise_log.csv Normal file
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