video_backbone剖析

unitree_z1_dual_arm_cleanup_pencils/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: 800
+- Sample rows: 2
+- Round rows: 8
+- Scenes: unitree_z1_dual_arm_cleanup_pencils
+- 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=115.8025, median=136.8204, p90=163.1501, p95=165.9780
+
+### 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=46.6250, median=46.6250, p90=46.6250, p95=46.6250
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3539, median=0.3497, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0293, median=0.0282, p90=0.0415, p95=0.0434
+- `state_delta_mid_steps`: mean=0.0290, median=0.0278, p90=0.0412, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6250, median=46.6250, p90=46.6250, p95=46.6250
+- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.6250, median=46.6250, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=245.2738, median=241.8205, p90=256.2588, p95=264.7285
+- `action_drift_vs_prev_round`: mean=0.7145, median=0.7974, p90=0.9565, p95=1.0102
+- `round_total_time_s`: mean=572.9500, median=579.7652, p90=602.7283, p95=603.3178
+- `policy_pass_total_time_s`: mean=238.1444, median=246.9240, p90=257.0490, p95=257.6652
+- `world_model_pass_total_time_s`: mean=246.7932, median=254.5509, p90=258.5156, p95=258.7368
+

unitree_z1_dual_arm_cleanup_pencils/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
+unitree_z1_dual_arm_cleanup_pencils,policy,238.1443801224232,238.1443801224232,,,,,,,,,,,44.75,44.75,,46.625,46.625,,46.625,46.625,,47.125,47.125,,572.950019210577,572.950019210577,,238.1443801224232,238.1443801224232,,246.79315009713173,246.79315009713173,,245.27383640834265,245.27383640834265,,0.7144961793507848,0.7144961793507848,
+unitree_z1_dual_arm_cleanup_pencils,world_model,246.79315009713173,246.79315009713173,,,,,,,,,,,44.625,44.625,,46.625,46.625,,46.625,46.625,,47.0,47.0,,572.950019210577,572.950019210577,,238.1443801224232,238.1443801224232,,246.79315009713173,246.79315009713173,,245.27383640834265,245.27383640834265,,0.7144961793507848,0.7144961793507848,

unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv

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unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md

@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 20000
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=29.6888, median=33.0428, p90=53.5421
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.148623, median=0.131480, p90=0.234975
+- `cosine_vs_prev`: mean=0.985607, median=0.991779, p90=0.998233
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.040660, mean_forward_time_ms=40.9982
+- `output_4` (output_blocks): tail_rel_l2=0.053289, mean_forward_time_ms=38.4154
+- `output_6` (output_blocks): tail_rel_l2=0.056536, mean_forward_time_ms=40.9847
+- `output_2` (output_blocks): tail_rel_l2=0.057318, mean_forward_time_ms=4.3035
+- `output_3` (output_blocks): tail_rel_l2=0.060226, mean_forward_time_ms=38.9804
+- `output_8` (output_blocks): tail_rel_l2=0.062275, mean_forward_time_ms=42.2770
+- `input_5` (input_blocks): tail_rel_l2=0.072118, mean_forward_time_ms=42.6592
+- `output_7` (output_blocks): tail_rel_l2=0.073231, mean_forward_time_ms=41.0011
+- `output_1` (output_blocks): tail_rel_l2=0.075050, mean_forward_time_ms=3.4058
+- `input_7` (input_blocks): tail_rel_l2=0.076069, mean_forward_time_ms=38.5863

unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv

@@ -0,0 +1,26 @@
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unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv

@@ -0,0 +1,10 @@
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unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/round_summary.csv

@@ -0,0 +1,9 @@
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unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/sample_summary.csv

@@ -0,0 +1,3 @@
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unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/stepwise_log.csv

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unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/round_summary.csv

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unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/sample_summary.csv

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unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/stepwise_log.csv

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+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,19,0.6641886234283447,0.3973100185394287,0.017677724361419678,0.019607195630669594,0.27233222126960754,0.18533945083618164,188.85354614257812
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,20,0.6532008647918701,0.38647234439849854,0.018578441813588142,0.020608186721801758,0.28367435932159424,0.1982363611459732,189.82752990722656
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,21,0.6549406051635742,0.38011106848716736,0.019524646922945976,0.021656235679984093,0.2952820658683777,0.21151116490364075,190.63302612304688
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,22,0.6939036846160889,0.37152665853500366,0.023877037689089775,0.02373395301401615,0.3068616986274719,0.22581511735916138,190.87734985351562
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,23,0.6519067287445068,0.36478739976882935,0.02320975437760353,0.024936184287071228,0.3203139007091522,0.24062255024909973,190.95162963867188
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,24,0.6539924144744873,0.35777759552001953,0.024374352768063545,0.026193875819444656,0.33419379591941833,0.2559790313243866,191.3375701904297
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,25,0.657311201095581,0.3503554165363312,0.025592854246497154,0.02751079387962818,0.34853917360305786,0.27193376421928406,191.4000701904297
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,26,0.6800675392150879,0.34319329261779785,0.026867752894759178,0.02889024093747139,0.3633900284767151,0.2885398864746094,191.57843017578125
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,27,0.6608762741088867,0.337788850069046,0.028202541172504425,0.030336566269397736,0.3787894546985626,0.305854856967926,191.931396484375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,28,0.6548118591308594,0.3311767578125,0.02960103377699852,0.03185447305440903,0.3947831690311432,0.3239404559135437,191.980224609375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,29,0.6948456764221191,0.3250446319580078,0.033436425030231476,0.03413528576493263,0.410604327917099,0.343205988407135,192.3408966064453
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,30,0.6626172065734863,0.31883829832077026,0.03364128619432449,0.035864125937223434,0.4286990761756897,0.36342841386795044,192.4963836669922
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,31,0.6534206867218018,0.3138279914855957,0.03532000258564949,0.03768652677536011,0.4476093649864197,0.38468900322914124,190.43238830566406
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,32,0.6546459197998047,0.3074093163013458,0.03708704560995102,0.03960946947336197,0.4673968553543091,0.40707314014434814,188.2869415283203
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,33,0.6541268825531006,0.2989999055862427,0.03894835337996483,0.04164005070924759,0.4881244897842407,0.43066972494125366,186.5860137939453
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,34,0.6560056209564209,0.29079604148864746,0.0409114807844162,0.04378703981637955,0.5098558664321899,0.45556944608688354,185.18789672851562
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,35,0.6537985801696777,0.28275129199028015,0.04298299178481102,0.046058014035224915,0.5326518416404724,0.4818614423274994,183.97674560546875
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,36,0.7014820575714111,0.27423593401908875,0.04804104194045067,0.05049008131027222,0.5565308332443237,0.5109660625457764,182.80447387695312
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,37,0.6533522605895996,0.26460370421409607,0.04954119399189949,0.053195636719465256,0.5830042362213135,0.5417714715003967,182.111083984375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,38,0.663210391998291,0.25629860162734985,0.0521509125828743,0.05606083944439888,0.6108255982398987,0.5743317008018494,181.66812133789062
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,39,0.6560242176055908,0.24612320959568024,0.05490987002849579,0.05908980593085289,0.6400021910667419,0.6086591482162476,181.10409545898438
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,40,0.653799295425415,0.23649759590625763,0.057822857052087784,0.06228401139378548,0.6704978942871094,0.6447045803070068,180.9855194091797
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,41,0.6604995727539062,0.2269001603126526,0.06088797748088837,0.06563553214073181,0.7022124528884888,0.6823261380195618,180.9955596923828
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,42,0.6577277183532715,0.21680843830108643,0.06410104781389236,0.06913115829229355,0.734958827495575,0.7212564945220947,181.4691162109375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,43,0.7010416984558105,0.20679448544979095,0.07089077681303024,0.0737539604306221,0.7698583602905273,0.76194167137146,181.90528869628906
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,44,0.6533682346343994,0.1969878375530243,0.07356980443000793,0.07756061106920242,0.8058331608772278,0.8029186129570007,182.69383239746094
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,45,0.6558592319488525,0.1866701990365982,0.07738089561462402,0.081395223736763,0.8415144085884094,0.843254029750824,183.64479064941406
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,46,0.6550247669219971,0.17648696899414062,0.08124037086963654,0.08518433570861816,0.8759417533874512,0.8817307949066162,184.9155731201172
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,47,0.6546435356140137,0.16608528792858124,0.08510251343250275,0.0888548195362091,0.9078992009162903,0.9168746471405029,186.11227416992188
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,48,0.6583943367004395,0.15522052347660065,0.08900417387485504,0.09242091327905655,0.9359601140022278,0.9470533728599548,187.5897979736328
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,49,0.654116153717041,0.1435481756925583,0.09352952986955643,0.09646458923816681,0.9586333632469177,0.9706863760948181,189.4212646484375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,50,0.7028539180755615,0.12265245616436005,0.1435292661190033,0.16214682161808014,0.9825617074966431,0.9918212890625,189.74871826171875

unitree_z1_dual_arm_cleanup_pencils/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_z1_dual_arm_cleanup_pencils/case3" \
+    "unitree_z1_dual_arm_cleanup_pencils" \
+    "4" \
+    "8"

unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh

@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case3"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    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 "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"